© 2017 IEEE. In this paper, a novel linearization based nonlinear controller is developed for a dynamical model of a quadcopter including a rotor dynamics. As the main contribution, it is revealed that the 17-dimensional quadcopter system is exactly linearizable by hierarchical linearization which was introduced by the author, although the quadcopter system isn't feedback linearizable in the sense of ordinary input-output linearization. The proposed linearization method first linearizes altitude dynamics and designs a feedback controller for the linearized subsystem. By fixing the structure of a controller for linearized subsystem, it's revealed that the remaining dynamics becomes fully linearizable. As the result, the system is fully linearized without any approximation by static feedback transformation, and the stabilization controller is designed for the linearized system. The validity of the proposed controller is verified via a numerical simulation.