only type of company i know anything for sure about is limited (limitada) which would be most common type in any country. the answers i gave are very rough and asking someone on here who has done it is one step. but ultimately you will need to speak to an accountant or lawyer (but lawyers always charge more ) in Brazil.
I cant remember the name but there was a company mentioned in another thread which is a brazilian law firm with offices in london and is a good firm (according to posts on here - so maybe by people working for the said company, who knows)