Abstract: To develop the missile quasi-linear model, a state space model is established for missile dynamics, and function substitution method is used to describe the nonlinear dynamics of missile as linear combinations of functions of given time-varying parameters. With the minimizing variation range of model parameters over the whole design envelope as the optimum aim, linear programming optimum arithmetic is used to determine the model parameters at selected grid points. Without using any linear approximation, the quasi-linear parameter varying(quasi-LPV) model can capture the missile non-linear dynamic characteristics veritably. The validity of the established model is verified by mathematical simulations.