Increasing demand in SATCOM systems has led to the development of Satcom on the Move (SOTM) antennas. Performance, light weight, low cost, and high data rate are the required parameters in the designing of SOTM antenna. The designer has to make a suitable system with respect to these design parameters. With this aim, this paper proposes a 4 axes antenna capable of 3 axes stabilization to compensate for the disturbance. With adding the position controller, the antenna can point and track the satellite on the mobile platforms. Due to the singularity problem in this type of antenna, the 3 axes stabilized antenna system is used in this paper. The kinematic equations and Jacobian operator are derived for calculation of the necessary axis feedback and look angles. The Jacobian operator with MEMS sensor which is a cost-effective solution. Furthermore, we propose PI-based stabilization for the stabilization controller and PID based pointing for the position controller. To verify the proposed algorithms, different disturbances are applied to the system.