Optimal evasion from guided missiles is crucial for the subsistence of fighters in air combat. Based on the radar seeker system characteristics of automatic angle tracking system, the tracking error production mechanism is researched, and a maneuver control objective of avoiding the missile attack is put forward. Taking the missile attacking on two-dimensional plane for example, the pursuit-evasion models of the missile and the fighter are built up. And then, the analytical form of evasive maneuver control law is derived based on nonlinear dynamic inversion. The simulation results show that the effectiveness of the above designed method is verified