In order to solve the control problem in the launch control process of folding-wing UAVs, which is caused by the disturbances of both the step torque of the booster rocket and the rotation torque of the wing rocket, the optimal-state-control algorithm based on the optimal quadratic form is used to calculate the time range of the control law accessing the flight control system to participate in the controlling process. The precise time of the control law accessing the flight control system to control the rudder is finally determined by simulation tests. Using the optimal control scheme, the flight control system can overcome the oscillation within the shortest time and recover the steady state. Simulations and experiments show that: the optimal algorithm makes the effects of the dual torque disturbances on the system be lower, successfully solves the control problem of folding-wing UAVs during the launch process, and ensures the high quality of the launch control and the flight control of UAVs.