Proportional Navigation with integral action

A new version of the Proportional Navigation guidance law is derived where integral action is included to compensate for target maneuvers while avoiding the need to estimating these maneuvers. The new guidance law is derived also for situations where the Line of Sight is rotating, and can be, therefore used also for mechanizing command to line of sight guidance. The new guidance law can be applied in a variety of applications where mobile robots or aerial robotic vehicles are required to intercept moving objects or to avoid a collision with such objects. The new guidance law is demonstrated using a simplified guidance scenario simulation to such an object.