A device for use with a gyroscopic stabilizer for use in an assembly that is moveably connected to a vehicle. The gyroscopic stabilizer has a gyroscope, a skew motor, and a skew motor velocity servo-control system. The gyroscopic stabilizer can control a skew of the assembly based on a torque signal to maintain the assembly in an intended position. The skew motor velocity servo-control system can control the skew motor. The skew motor can move the gyroscope. The gyroscope can provide the torque signal. The device comprises an assembly position determining system, a detector, a state estimator and an output portion. The assembly position determining system can generate an assembly position signal based on one of a position of the assembly, a position of the gyroscopic stabilizer, a position of the gyroscope, a position of the skew motor and a position of the skew motor velocity servo-control system. The detector can detect a skew of one of the assembly, the gyroscopic stabilizer, the gyroscope, the skew motor and the skew motor velocity servo-control system and to generate a skew signal. The state estimator can provide an error signal based on the skew signal. The output portion can provide an output signal to the gyroscopic stabilizer. The output signal is based on the assembly position signal and the error signal.