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In a typical electro-optical tracking system, two or more types of controllers are used for seeking, acquisition and tracking modes. This leads to the problem of mode switching among these controllers. This paper proposes a nonlinear proportional integral derivative control scheme which can perform all the above functions to shorten the settling time by reducing the overshoot caused by the integrator, without degradation of other performance specifications. This control law not only increases the speed of closed-loop response, but also improves the settling performance.