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TITAN is a much heavier anti-tank weapon and will completely annihilate anything lighter than a main battle tank. MBTs usually require 1-2 hit with TITAN AT to disable and 2-3 to destroy.
There is also a variant of TITAN (the longer one) that shoots AA missiles and can be used to disable (but not destroy) helicopters and jets.
PCML can disable (knock the tracks off) heavier APCs like the CSAT Marid and presumably IFV's like the Mora. However I would advise not to try and instead use TITAN. Unfortunately TITAN AT have a tendency of completely destroying the Mora and Marid with a single missile. Don't even try to use the PCML against main battle tanks. They will just laugh at you and then proceed to ream your butt.
If you fire a PCML without locking on it tends to go up and then sink slowly following a ballistic arc. The TITAN AT when fired without a lock on will *ATTEMPT* to follow whatever you aim at. TITAN AT cannot lock onto a aircraft but you can manually guide it into one if you're skilled enough. This will usually knock it out of the air.
AT specialists carry TITAN while Rifleman (AT) carry the light AT.
Also, while not a concern in game except possible "realism" mods, the PCML is "soft-launch" capable, while the titans are not. So you could shoot a PCML in a building without killing yourself from the pressure.
edit: after a quick google search I have found what the Titan is based on, it is based on the Mini-Spike Anti-Personal Guided Weapon. Here is a website/artical that talks about it and shows images of it: http://defense-update.com/photos/mini_spike.html