A method and apparatus for controlling a gimbaled platform (108). The method comprises the steps of computing an acquisition phase gimbal angle rate command .omega..sub.cmd.sub.--.sub.Acq (530) from a measured LOS angle error .DELTA..theta..sub.LOS (520) for an initial control period T while computing an estimated LOS angle rate {circumflex over (.omega.)}.sub.LOS (524), computing a tracking phase gimbal angle rate command .omega..sub.cmd.sub.--.sub.Trk (532) using a controller (512) having an output initialized with the estimated LOS angle rate {circumflex over (.omega.)}.sub.LOS (524), and commanding the gimballed platform (108) according to an angle rate command .omega..sub.cmd (522), wherein the angle rate command .omega..sub.cmd (522) is the acquisition phase angle rate command .omega..sub.cmd.sub.--.sub.Acq (530) during the initial control period T and the tracking phase gimbal angle rate command .omega..sub.cmd.sub.--.sub.Trk (532) after the initial control period T.