Method and system for stabilizing a payload

An apparatus for controlling an attitude of a payload, comprising:

• a carrier comprising:
• a first frame, the payload being affixed to the first frame;
• and
• a second frame rotatably coupled to a movable object;
• one or more first sensors disposed on the payload and configured to measure one or more motion characteristics of the payload;
• one or more second sensors disposed on the carrier and configured to measure one or more motion characteristics of the carrier;
• and
• one or more processors individually or collectively configured to:
• determine an input torque based on the one or more motion characteristics of the payload;
• determine an estimated disturbance torque based on the one or more motion characteristics of the carrier;
• and
• calculate an output torque based on the input torque and the estimated disturbance torque, the output torque being configured to effect movement of the second frame to achieve a desired attitude of the payload.