The continuing evolving capability of guided weapons demands ever more knowledge of their development. This book covers the control aspect of guidance of missiles, torpedoes, robots and even animal predators, from the viewpoint of the pursuer. The text studies trajetories, zones of interception, the required manoeuvre effort, time of flight, launch envelopes and stability of guidance process. Mathematics at first year university level is the only prerequisite and an acquaintance with feedback control theory would be helpful.