A nonlinear two time-scale dynamic inversion controller is designed. Actuator saturation in the spinning missile will limit the control commands responses. And the periodic motion and the physical limits of the actuator’s angle and angular velocity would make the respondent pseudo fin deflection angles much different from the desired dynamics. So a kind of command shaping method which limits the fin deflection angle commands in the pseudo body coordinates before the actuator’s limiter is proposed. Meanwhile, a feedback compensation method is applied to eliminate the cross coupling between the pitch and yaw channels in the actuator due to the spinning of the missile. Finally the performance of the controller with the command shaping and decoupling treatment is analyzed.