Abstarct: In this thesis, desinging and modeling of free gyroscope seeker in scan mode have been studied.the seeker includes a permanent magnat rotor that has symmetric dipole.the advantage of the mechanism is possibility installation of more coils.these coils are used as magnatic torque genrators to change rotor direction of free gyroscope with more resulation nessecery to check optical system position in the search mode because direction is the man goal in this situation. In this thesis, it is proposed a new dynamic equation of free gyroscope seeker baxsed on effect of magnet tourqe on permanent magnet rotor. Also, the other main goal is proposed a control strategy for magnetic actuatore current to direct optical axes.