This paper describes a pointing control of a mobile antenna mounted on a vehicle. For precise pointing, the antenna must be controlled to point to a target under the influence of continuous disturbances acting on the vehicle. For this purpose, we propose an optimal controller design method in a framework of the H ∞ gain-scheduled controller synthesis. By this synthesis, the optimal controller is obtained by using parameter varying notch-filter in order to attenuate the various frequency disturbances. We apply this design method to an automobile model having a rotating antenna.In this section, we propose an optimal controller design method by using the parameter varying notch filter. First, fundamental ideas of two filters of the parameter varying notch filter and the low-pass filter are described. Next, the structure of the generalized plant including both filters is shown, and the H ∞ gain-scheduled controller design method is applied to this plant.