  Precise trajectory tracking is a crucial property for \acp{MAV} to operate in
cluttered environment or under disturbances. In this paper we present a
detailed comparison between two state-of-the-art model-based control techniques
for \ac{MAV} trajectory tracking. A classical \ac{LMPC} is presented and
compared against a more advanced \ac{NMPC} that considers the full system
model. In a careful analysis we show the advantages and disadvantages of the
two implementations in terms of speed and tracking performance. This is
achieved by evaluating hovering performance, step response, and aggressive
trajectory tracking under nominal conditions and under external wind
disturbances.
