This work presents a modified algorithm for improving the intercept perform
ance of the Aiming Point Guidance (APG) law (Tsao et al. 1998) subject to t
he dynamic lags of a missile system. The performance of APG is improved by
taking into account the motions of the collision course and the achieved mi
ssile turning rate. Numerical simulations show that the modified APG (MAPG)
performs better than the APG in terms of miss distance, interception time,
and lateral acceleration demand.