Optimal guidance for modular weapons with digital autopilots

The optimal linear quadratic guidance problem with an accelerating target is investigated. The missile state is partitioned into a kinematic state and an airframe state. Both the penalty-weighted and constained terminal state cases are treated. The resulting optimal guidance law requires estimates of target accelerations which are derived via linear observers. Results of a point mass missile, a one-time constant missile, and a two-time constant missile are given.