In this paper, the new guidance laws for anti-tank guided missile(ATGM) are proposed using weighted optimal control. The weighting function is devised in consideration of general ATGM trajectory demanding the altitude hold mode, and various ATGM trajectories can be generated by adjusting design parameters. The proposed guidance law is applicable to the whole engagement course of an ATGM without reconfiguration of guidance laws, thereby a sudden change of guidance command does not happen and the ATGM system is able to effectively intercept the target. From the results of the simulations, we investigate characteristics of the proposed guidance law and confirm the performances in comparison with the conventional method.