This paper presents a finite time convergence incremental nonlinear dynamic inversion combined the command differential signals feed forward control.It shows better performance in handling command signals racking problems caused by the time delay of angular acceleration feedback signalsacquisition in regular incremental nonlinear dynamic inversion,with the combination of finite time convergence desired outputs and command differential signals.The status tracking error convergence theorem for finite time convergence incremental nonlinear dynamic inversion is proved,together with model mismatch perturbation analysis.Simulation results demonstrate,the method presented in this paper not only shows insensitive to model mismatch as the regular incremental nonlinear dynamic inversion,but also tracks the command signal without error in real time.