The focus of this study is to be able to control the air-to-surface missile throughout the entire flight, with emphasis on the propulsion phase to increase the impact range of the missile. A major difficulty in controlling the missile during the propulsion phase is the important change in mass of the missile. This results in sliding the center of gravity (cg) point and changing inertias. Moreover, aerodynamic coefficients and stability derivatives are not assumed to be constant at predetermined ranges / conversely, they depend on Mach number, angle of attack, and side slip angle. Consequently, as the change of missile mass, cg point, inertia terms, and stability and aerodynamic coefficients come together apart from flight operation stages, a great number of points need to be taken into account when designing the controller. This makes controlling the missile all the more complicated. In this thesis, first the equations of motion are derived, in which, mass of the missile is not assumed constant. Thus, not only the variation of mass but also the variation of inertias is incorporated in the equations of motion. From the derived v equations of motion, a nonlinear inverse dynamics controller that can achieve desired guidance for a conceptually developed air-to-surface missile has been designed, tested and verified for a modeled missile with six degrees of freedom. For brevity of the study, conceptual design and aerodynamic calculations are not given in detail. Nevertheless, improvements for conceptual design are suggested. As a result, it is shown that the controller works efficiently: the missile is able to hit the target with less than 12 m circular error of probability (CEP). Finally, studies and improvements are proposed.