Numerical State-Dependent Riccati Equation Approach for Missile Integrated Guidance Control

A x , B x = state-dependent system matrices of size n n and n m Q x , R x = state-dependent weighting matrices of sizes n n and m m r, _ r = range and range rate of the target with respect to the missile S = solution to the Riccati equation T = rocket motor thrust per unit mass acting along the longitudinal axis of the missile u = control vector of size m 1 upert = control perturbation vector of size m 1 x = state vector of size n 1 xpert = state perturbation vector of size n 1 X, Y, Z = relative position components of the target with respect to the missile y, z = position of the moving masses along the pitch and yaw axes with respect to the body yc, zc = moving-mass position commands , = pitch and yaw Euler angles of the missile y, z = line-of-sight angles