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Sentry Gun is a weapon designed to monitor national borders automatically without requiring an operator. In making the Sentry Gun system, mathematical modelling is carried out using the black box method to determine the transfer function of the plan or system to be controlled. Sentry Gun is in the form of a 1:3 model compared to the original made of Aluminum and Steel. Image processing is used as an object sensor tracking Sentry Gun. Open CV is used in the Image Processing process. A DC motor is used as an actuator in the movement of the elevation and azimuth axes (2 Dof). As feedback, a rotary encoder is used to detect the rotation of the DC motor. Due to limitations in the manufacture of mechanical systems so that at the azimuth angle using helical gear there is a backless which makes the system unstable and takes a long time to reach the settling time. The motor movement control used is PID which is based on intelligent control of the genetic algorithm so that the movement of the tool is precise, smooth and on target. System modelling was carried out using the MATLAB Identification System feature. Iterated 100 times in determining the value of Kp, Ki, and Kd. so that the values of Kp 245, Ki 180 and Kd 215 are obtained. PID tuning based on intelligent control of genetic algorithms can produce a more optimal step response system. Namely Rise Time Produced 0.96s, Overshoot 5%, Settling Time 5.29s and steady state error 0%. [ABSTRACT FROM AUTHOR]