Abstract: Based on the nonlinear six degree-of-freedom missile model, the missile system was separated into four loops according to time-scale separation principle. Taking account of the fast loop and the relatively slow loop, the dynamic inversion controllers were designed in both of the two loops for decoupling control, and the robust decentralized controller was designed in the relatively slow loop to compensate the uncertainty and disturbances of the whole system. The robust decentralized controller has a simple structure and does not rely on the accurate mathematical model. Finally, the simulation results show that the closed-loop control system which is designed according to the approach achieves both good steady performance and dynamic performance, and its robust performance is also excellent.