Abstract: Based on extended state observer and backstepping terminal sliding mode control, an integrated guidance and control design is proposed for dualcontrol missiles. An adaptive compensation law is designed to implement the error of observation, and suppress the interfere due to the uncertainty of the system. Then the concept of virtual control torque is introduced to avoid direct solving of the controller. An adaptive control allocation method based on the gradient descent method and the mixed integer programming method which makes full use of the information of the system is proposed to resolve contradiction between realtime requirement and precision requirement. Finally, the simulation results show that the proposed integrated design method can reduce the control quantity, and improve the guidance accuracy when the system is influenced by internal and external disturbances.