Long time AIBU addict lurker but first time poster so please be gentle!
DH and I have been together for about a million years. We have one DD who is just one. We both work FT. In the past I have made a MASSIVE effort with ILs and we had a very good relationship.
Just before DD was born DH and I did wills and we said DD should go to my DM. MIL went absolutely postal, crying on DH and slagging off my DM. We made some changes to the wills (but kept DD going to my DM). We were both upset by the whole thing, DH was sad that MIL was sad and I felt MIL had really overstepped. However as we had had a good relationship and I really want DD to have a good relationship with ILs I tried to chalk it up to experience. However since then there have been a series of issues. Example one - she invited herself to stay when I was 40 weeks pg, I thought totally overstepping but we felt we had to let her after the strop about the wills. Example two - she told me I didn't love DH because I don't want to move to where he wants to move to. Example three - she invited herself to stay for the first week I went back to work, we said that was too much but why not come for part of the time and she threw her toys out of the pram. You get the idea. When we do see her she pretty much snatches DD off me as soon as we arrive. Because of all this and because I just have no time with a baby and a job, we don't see her as much and she thinks she is very hard done by.
I see a lot of my DM which I think makes MIL jealous, but I wouldn't accept this behaviour off my own DM either.
DH is not blind to her faults and generally backs me up on the bigger things but doesn't see everything the way I do and wants his mum to be happy, which is how it should be but not if what she needs to be happy is U! He is otherwise wonderful 
I genuinely really want us all to have a good relationship with MIL and MIL to be an important person in DD's life, but I want MIL to accept that DD is our baby so we make the decisions and to respect that there are going to be times when we don't want her to stay. AIBU? And any tips on dealing with her?