The book sheds light on the historical roots of this missile and provides a hardware‑based description and mathematical analysis

of its motion‑control system. Even when considering that this missile was put in service in 1962, with its continued service time in the

former Warsaw Pact armed forces of more than 50 years it remains unsurpassed in the history of ballistic missile development. According to foreign estimates, this missile, and modified forms of it are still in service in several countries around the world.