The work that is presented in this report is a part of a project which aims at developing a sensor system consisting of infrared and video sensors and an integrated navigation system. The sensor system is placed in a camera gimbal and will be used on moving platforms, e.g. UAVs, for surveillance and reconnaissance. In this report the sensor pointing problem is studied. The problem is analyzed and a sensor management hierarchy, capable of decomposing services into subtasks, is proposed. The major blocks in the gimbal control system design are trajectory planning and motion control. In order to develop these blocks, kinematic and dynamic models of the gimbal are derived using techniques from robotics. The modelling of the gimbal is the major work in this report. The trajectory planner can handle problems with mechanical constraints, kinematic singularity, sensor placement offset and different reference signals. The gimbal motion controller is tested with two different control strategies, PID and LQ-control. A desired quality of the regulator is quick gimbal response without exciting the vibration damping flexibility. The LQ-controller uses a linearization of the dynamic model to fulfil this requirement.