This paper describes the design, implementation and flight testing of flight control laws based on Incremental Nonlinear Dynamic Inversion (INDI). The method compares com- manded and measured accelerations to compute increments on the current control de ec- tions. This results in highly robust control solutions with respect to model uncertainties as well as changes in aircraft dynamic characteristics of failure cases during flight. At the same time, the complexity of the algorithms is similar to classical ones. The key for practical implementation is in ensuring synchronization between angular acceleration and control de ection measurements or estimates. This paper describes the design and vali- dation of manual attitude control functions for a Cessna Citation II experimental aircraft, covering control structure design, application of INDI, design optimization, robustness analyses, software implementation, ground and flight testing. For comparison, also control laws based on classical Nonlinear Dynamic Inversion were implemented and flown. The flight tests were highly successful and marked the first successful demonstration of INDI on a CS-25 certified aircraft. The flight test results proved that INDI clearly outperforms NDI and provided valuable lessons-learnt for future applications.@en