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In our paper, a fuzzy logic based approach is proposed to compensate for the dynamic inverse error encountered in designing the direct dynamic inverse controller for the application of Missile Terrain Following and Terrain Avoidance. More specifically, state variables involved in the differential equations of certain type of missile are first decomposed into three groups: fast modes, slow modes and slower ones. Next, three direct inverse control systems are, respectively, designed for the three groups of state variables. Because the inverse error existing in the control loops synthesized for the fast and slow modes certainly have influence on the inverse error in the loop shaped for the slower modes, a fuzzy logic compensator finally is constructed to compensate for the inverse error in the loop for the slower modes. Numerical simulations show that the fuzzy logic compensator proposed in this article can significantly reduce the inversion error, and hence the whole terrain tracking system performs substantially well in tracking a given terrain in the presence of perturbation of parameters.