A 2-axis antenna-stabilizing-control device that does not need a level sensor was developed. The control incorporates a zero-servo method, which zeros the two gyro outputs by rotating an antenna with both an azimuth motor and an elevation-servo motor. However, a Gimbal lock and unlapping of the cable frequently occur at a high-elevation angle, resulting in large pointing errors. We solved these problems by using the servo-error-correction method and the estimated rewind method.