Firstly,the sufficient and necessary condition of decoupling of nonlinear system is given.Secondly,nonlinear decoupling control law of BTT missile is designed.

• 首先给出了非线性系统实现解耦的充要条件，然后推导了BTT导弹在倾斜转弯时的非线性解耦控制律，最后利用所推导的控制律对某型BTT导弹进行了仿真研究。