The telecommunication on a modern merchandise ship is maintained by means of satellite communication. The task of the tracking system is to position the on-board antenna toward a chosen satellite. The control system is capable of rejecting the external disturbances which affect on the underactuated antenna and ensures that it remains locked on the satellite. In this paper, a nonlinear internal model controller (NIMC), which achieves asymptotic tracking for the nonlinear antenna system with nonlinear exogenous dynamics, is proposed. Computer simulations as well as practical tests verify the effectiveness of this method to cope with the external disturbances that are imposed to the satellite tracking antenna (STA).
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