Chapter 1 Introduction of Optimal Guidance 1.1 Background and Motivation 1.2 Optimal Guidance Problem Example: Energy Minimization 1.3 Aim and Organization References Chapter 2 Optimal Error Dynamics in Missile Guidance 2.1 Preliminaries and Motivations 2.1.1 Missile-Target Relative Kinematics 2.1.2 Motivations 2.1.3 Preliminaries 2.2 Optimal Error Dynamics 2.2.1 Derivation of the Proposed Optimal Error Dynamics 2.2.2 Discussion of the Proposed Optimal Error Dynamics 2.2.3 Potential Significance of the Proposed Optimal Error Dynamics 2.2.4 General Approach for Guidance Law Design 2.3 Illustrative Examples 2.3.1 Homing Guidance 2.3.2 Impact Time Control 2.3.3 Impact Angle Control 2.3.4 Impact Angle and Impact Time Control 2.4 Simulation Results 2.4.1 Homing Guidance 2.4.2 Alleviating Transition Effect 2.4.3 Shaping Aerodynamic Maneuverability 2.4.4 Impact Time Control 2.4.5 Impact Angle Control 2.4.6 Impact Time and Angle Control 2.5 Summary References Chapter 3 Optimal Trajectory Shaping Guidance Law with Seeker's Field-of-View Constraint 3.1 Trajectory Shaping for Impact Time Control with Seeker's FoV Constraint 3.1.1 Problem Formulation 3.1.2 Impact Time Guidance Law Design 3.2 Analysis of Proposed Guidance Law 3.2.1 Optimality and Convergence of Impact Time Error 3.2.2 Velocity Lead Angle Analysis 3.2.3 Guidance Command Analysis 3.2.4 Selection of th (x) 3.3 Numerical Simulations 3.3.1 Performance with Different Impact Times 3.3.2 Performance with Different Velocity Lead Angle Constraints 3.3.3 Comparison with Other Guidance Laws 3.4 Trajectory Shaping for Impact Angle Control with Seeker's FoV Constraint 3.4.1 Problem Formulation 3.4.2 Impact Angle Guidance Law Design 3.5 Analysis of Proposed Guidance Law 3.6 Numerical Simulations 3.6.1 Performance with Different Impact Angles 3.6.2 Performance with Different Velocity Lead Angle Constraints 3.6.3 Comparison with Other Guidance Laws 3.7 Summary References Chapter 4 Nonlinear Optimal Trajectory Shaping Guidance for Impact Angle Control 4.1 Backgrounds and Preliminaries 4.1.1 Engagement Geometry 4.1.2 Reference Frame and Relative Engagement Geometry 4.1.3 Preliminary Concepts and Problem Formulation 4.2 Derivation of the Nonlinear Optimal Guidance Law 4.2.1 Optimal Guidance Law for Perfect Interception 4.2.2 Optimal Guidance Law with Relative Flight Path Angle Constraint 4.3 Analysis of Proposed Guidance Law 4.3.1 Particular Case: Stationary Target Interception 4.3.2 Convergence of Velocity Lead Angle and Impact Angle Error 4.3.3 Characteristics of Guidance Command 4.3.4 Capture Condition 4.4 Engagement Simulation 4.4.1 Scenario 1 4.4.2 Scenario 2 4.4.3 Scenario 3 4.5 Summary References Chapter 5 Nonlinear Optimal Trajectory Shaping Guidance for Impact Vector Control 5.1 Preliminaries and Problem Formulation 5.1.1 Engagement Geometry 5.1.2 Relative Engagement Geometry in Reference Frame 5.1.3 Problem Formulation 5.2 Derivation of Nonlinear Optimal Guidance Law 5.2.1 Optimal Guidance Law for Perfect Interception 5.2.2 Optimal Guidance Law with Terminal Flight Direction Constraint 5.3 Analysis of Proposed Guidance Law 5.3.1 Partieular Case:~\\" =0 5.3.2 Convergence Analysis 5.3.3 Characteristics of Guidance Command 5.4 Engagement Simulation 5.4.1 Scenario 1 5.4.2 Scenario 2 5.4.3 Scenario 3 5.5 Summary Appendix A.Derivation of Eq.(5.63) References Chapter 6 Optimal Trajectory Shaping Guidance with Observability Enhancement 6.1 Observability Under Proportional Navigation Guidance 6.1.1 Geometric Metric for Observability