In this paper, a new incremental predictive guidance method based on implicit form of velocity to be gained algorithm is proposed. In this approach, the generalized incremental predictive control (GIPC) approach is applied to the linearized model for compensating the guidance error. Instead of using the present state in popular model based predictive controller (MPC), in the new method both previous and present states are utilized. GIPC approach introduces a feedback action including the weighted difference of the process states and the summation of the control action increments. To evaluate the robustness and performance of the proposed approach, the parameter uncertainties of the guidance and control are considered and a comparison with standard GPC is performed by extensive computer simulations. The results show a significant improvement in the robustness as well as tracking performance for the perturbed initial value of velocity to be gained or the reference signal.