A nonlinear wing model based on a quasi-steady approach and the blade element theory is used to calculate the instantaneous aerodynamic forces for Flapping flight control simulations. Due to its robustness against external disturbances and nonlinear uncertainties, an Active Disturbance Rejection Controller (ADRC) with an Extended State Observer is utilized for the three dimensional flight simulations. By using the artificial Central Pattern Generator (CPG) models together with the ADRC, bio-inspired controller structures are obtained.