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Gimbal systems serve as critical mechanisms for carrying payloads and accurately aligning them with specific lines of sight. Designing controllers for these gimbal systems necessitates robustness against external disturbances and variations in system parameters. Various control methods have been explored in existing literature to address this challenge. In the scope of this study, we investigate the performance of four distinct control strategies—Proportional-Integral (PI) control, Self-Tuning PI control, Integral Action LinearQuadratic regulator (IA-LQR), and Relay Sliding Mode Control based on the Input-Output Model (RSMCIO)—as speed controllers for a gimbal system. We assess their efficacy through both simulation-based experiments and real-world applications, offering a comprehensive analysis of their outcomes. Beyond speed control, we extend our investigation to include cascade position control, employing a ProportionalDerivative (PD) control structure in the outer loop. Our study focuses on evaluating the performance of these diverse control structures when subjected to disturbances and variations in model parameters. To the best of our knowledge, this research marks the first attempt to apply the RSMC-IO approach to gimbal systems, enhancing our understanding of control strategies in this context and offering valuable insights into their practical implications. [ABSTRACT FROM AUTHOR]