In this chapter, we study the influence of the frequency variation of a nonlinear control allocation technique execution, developed by the author [1], named Fast Control Allocation (FCA) for the Quadrotor Tilt-Rotor (QTR) aircraft. Then, through Software In The Loop (SITL) simulation, we consider the use of Gazebo, QGroundControl, and Matlab® applications, where different frequencies of the FCA can be implemented separately in Matlab, always analyzing the QTR stability conditions from the virtual environment performed in Gazebo. The results showed that the FCA needs at least 200Hz of frequency for the QTR safe flight conditions, i.e., 2 times smaller than the main control loop frequency, 400Hz. Lower frequencies would cause instability or crashes during the QTR operation.