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Help me build a position controller in Matlab for a dome camera

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ekomninos

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I have to build a controller (for position control) in matlab for a ptz camera ( dome camera ).The basic idea is that the target will be detected through out video frames.I want to build a controller so as my dome camera move in such a way that the target is being kept at the center of the image.PC is physically connected via RS232 with it.Which is the system that i have to control?Is there any need to find the transfer function of the camera?Any ideas would very very helpful!!
 

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