Abstract: The mixed pitchyaw channel dynamic model of banktoturn (BTT) missile at one operating point was described as a linear switched system switched as the roll angle rate changes. The reference model and control law of each subsystem were designed based on the eigenstructure assignment method and the feedforward method. The different controllers can be fast switched according to the switching law determined by the roll angle rate of missile. Thus the set of different controllers can restrain the model uncertainties caused by the rapid change of roll angle rate, which means it has better robustness. To ensure the uniform boundedness of the closedloop switched system within the whole varying range of roll angle rate, a sufficient condition in the form of linear matrix inequations was deduced using the common Lyapunov function method.