为了减少机载激光通信光电跟踪稳定平台的脱靶量误差，提出一种基于观测器的二自由度内模控制方法。以经过电流环化简后的速度环为被控对象，采用二自由度内模控制对系统进行校正，将干扰观测器的控制律引入到二自由度内模控制中以降低模型误差和外部扰动对系统性能的影响。通过仿真和实验验证了所提方法的高性能。实验结果显示，改进的内模控制在抗干扰能力、鲁棒性和跟踪性能上都优于传统内模控制；将改进的内模控制算法用于实际系统中也有较好的跟踪性能，其跟踪精度约为143 μrad，与传统内模控制相比提高了约24%。

In order to reduce miss distance errors of the photoelectric tracking stabilization platform for airborne laser communication, an observer-based internal model control strategy with two degrees of freedom is proposed. The strategy takes the velocity loop simplified using the current loop as the control object, uses the two-degree-of-freedom internal model control to correct the system, and introduces the observer-based control law into the two-degree-of-freedom internal model control to reduce the model error and influence of external disturbances on system performance. The high performance of the proposed strategy is validated by simulation and experiment. The experimental results show that the improved internal model control is better than the traditional internal model control in terms of anti-interference ability, robustness, and tracking performance. Bringing the improved internal model control algorithm into the actual system also has good tracking performance, and its tracking accuracy is about 143 μrad, which is about 24% higher than that of traditional internal model control.