Abstract: An improved control system for a missile that minimizes the roll motion required to steer in a given command direction. The guidance and navigation system produces a steering command in a body coordinate system. The steering command has pitch and yaw components, and indicates the direction of a desired lateral acceleration. The steering command is transformed into a selected one of N transformed coordinate systems. The selection is made such that the yaw/pitch ratio of the steering command is reduced. The transformed steering command is input to the autopilot, and the autopilot outputs are transformed back to the body coordinate system before being used by the fins or other steering mechanism.