A gun stabilizer is a device that facilitates aiming an artillery piece by compensating for the motion of the platform on which it is mounted. We aim to learn and try to design and control our own stabilizer. A dual axis inertial stabilized platform (ISP) that has 2 degrees of freedom (2-DOF) about both Y and Z axis as a turret was developed using CAD software then followed by designing a model for a tracked vehicle, to make the model similar to a real tank. Kinematic modelling and dynamic modelling are discussed and explained to make sure that the ISP can withstand maximum loading conditions and to select needed equipment and devices. A simulation is made on the model using Matlab Simscape Multibody to see how it reacts to different input signals. PID controller is then used to enhance performance of the model, in our case to reduce overshoots and rise time.