Linear-quadratic guidance law for dual control of homing missiles

= gain = measurement matrix = observability Gramian = performance index = navigation ratio = time, s = components of relative velocity, ft/s = control vector = positive-definite, diagonal weighting matrix (constant) = constant weight in dual-control guidance law, s~ = positive-definite, diagonal weighting matrix (time varying) = components of relative position, ft = state vector = matrix in gain vector