In order to design a bank-to-turn missile autopilot with better structure and performance, a linear quadratic regulator controller was used to determine three channels response time ratio based on a linear and decoupled bank-to-turn missile model. And then it was applied to design pitch and yaw overload autopilots. After three channels design, the coupling is introduced to simulate autopilot to verify the design. The results show that the autopilots have a good ability of tracing commands and had a capability of resistance coupling.