Abstract: This paper presents design and implementation of 2DOF PID autopilot capable of dealing with the issue related to the missile aging, uncertainty in aerodynamic coefficient calculations, and different disturbance sources that affects the missile tactical specifications. 2DOF PID autopilot is carried out to achieve both control objective of follow reference signal and system robustness, which better than traditional PID. This paper presents redesign a 2DOF PID appropriate autopilot capable of dealing with the issue related to the missile aging, uncertainty in aerodynamic coefficient calculations, different disturbance sources and thrust degradation that affects the missile tactical specifications, which carried out with linearized mathematical model of actuating system and missile airframe and nonlinear flight simulation model under MATLAB environment. The overall block diagram of the underlying missile system have to be presented with mathematical model of the linearized underlying missile airframe and actuating system. The 2DOF PID autopilot has to be evaluated to clarify the merits and demerits of it and implemented based on embedded raspberry pi system. At the end, processor-in-loop experimental test is used to validate the proposed digital autopilot performance, which is correctly described on embedded system and achieved the required system response more than the conventional one with accepted flight path and minimum miss-distance.