The design of a transition state arrangement is needed to make a hybrid UAV that has two engines, tricopter and fixed wing. Those can track vertical take off and landing (VTOL) and cruising with minimum errors. The setting of the transition state is completed by adjusting the height of the UAV. Firmly, it can be achieved by giving a weight values to the each UAV engine. In this study, the transition state is sought by calculating the change of altitude UAV. When the UAV has reached the expected height, the active machine will change. During the take off, the active engine becomes a tricopter and after the UAV reaches the expected height, the active machine will become a fixed wing. Meanwhile on landing, the active engine is a fixed wing which later when the speed of the propulsion engine has dropped, the active engine becomes a tricopter until the UAV reaches the landing pad. Tracking settings are carried out using the PID MRAC. From the simulation, it can be known that UAVs can track in accordance with the expected trajectory, starting from take off, then doing cruishing and then landing with RMSE value 1.82. On the Y axis tracking, there is a deviation of 0.3 m at 5 m. The UAV takes 9 seconds so that the UAV can reach the expected height.