A mobile tracking antenna requires a precise control system that combines good trajectory tracking and disturbance rejection performances. The system has several operating scenarios, requiring robust control design that ensures good performances and stability degree for a set of uncertain models. This paper presents a comparative study between CRONE and H∞ robust controllers to assess the feasibility of applying these methodologies. A practical validation in antenna tracking demonstrates that both controllers yield equivalent results both in time and frequency domains, thus ensuring excellent stability and outstanding performances. The choice of controller ultimately depends on the designer’s expertise, software and/or hardware requirements, and the complexity of the system model.