Abstract: A novel terminal control algorithm for the finite-horizon linear quadratic(LQ) terminal control problem is proposed.The algorithm adopts two solving methods:sweep method and transit matrix method.It is applied to the automatic soft landing control of OH-6A helicopter.Numerical experiments and comparisons between the novel terminal control method and hard terminal control method show that the new algorithm is feasible,and has less feedback gains while consumes less computation time than existing hard terminal control.