Incremental Nonlinear Dynamic Inversion (INDI) is a sensor-based control strategy, which has shown robustness against model uncertainties on various aerospace vehicles. The sensor-based nature of the method brings attractive properties which has made it popular in the last decade. INDI globally linearizes the system by making use of control input and state derivative feedback. The time lag between control input and state derivative is seen as one of the main challenges of the method. This has been partially solved by synchronization of actuator outputs with measurement, although the method is still vulnerable to unexpected measurement delays. This paper proposes Hybrid INDI approach to alleviate measurement delays and to reduce sensor dependence of INDI. The approach fuses the system model and sensor measurement via a complementary filter that produces angular acceleration estimation. The estimation responds fast to the system input thanks to the on-board model. It has also a low-frequency accuracy because of the sensor measurement. The method is found to retain good performance in case of model mismatches and measurement delays. An attitude controller is designed for the F-16 aircraft model and findings are verified with time-domain simulations.