Patent ID: 7437224

Claim:
A method of controlling a gimbaled platform, comprising the steps of: computing an acquisition phase gimbal angle rate command ω cmd — Acq from a measured LOS angle error Δθ LOS for an initial control period T; computing an estimated LOS angle rate {circumflex over (ω)} LOS at least in part from the acquisition gimbal rate command ω cmd — Acq ; computing a tracking phase gimbal angle rate command ω cmd — Trk using a controller initialized with the estimated LOS angle rate {circumflex over (ω)} LOS ; and commanding the gimballed platform according to an angle rate command ω cmd , wherein the angle rate command ω cmd is the acquisition phase angle rate command ω cmd — Acq during the initial control period T and the tracking phase gimbal angle rate command ω cmd — Trk after the initial control period T.