“…The lateral acceleration command, aCMD, of this algorithm is designed as where rbo, γMd, and σd are obtained from the terminal constraint update algorithm, proposed in this paper. The design parameter n is selected as follows which makes the objective function of Jeon et al., 9 minJ=12∫rP0 rboα2(rP-rbo)ndrP, to be identical to that of this paper given in equation (17). The missile system handled in this paper generates lateral acceleration by rotating the missile acceleration vector with respect to the velocity vector, and the rotation angle is symbolized as α.…”