This paper examines the issues involved in controlling an air-breathing hypersonic vehicle (characterized by their unstable, non-minimum phase dynamics) in the presence of significant modeling uncertainty and nonlinearities (control saturations). Modeling of the vehicle exhaust (plume) is complicated, often requiring computational fluid dynamic (CFD) simulations to capture all relevant effects. The focus of this paper is on obtaining a control law that maintains the vehicle trajectory within an acceptable tube while enforcing control constraints in the presence of modeling uncertainty. A robust domain of attraction based approach is used to generate/validate a feasible tube. The computational aspects of such an approach is examined, and the benefits of a decentralized control technique is considered. This approach is compared with other techniques such as linear matrix inequalities based controller design. These approaches are applied to a command following scenario in order to illustrate the performance of the proposed approach.