Abstract：Magnetically suspended control & sensing gyroscope takes lorentz force-type magnetic bearing (LFMB) as torquer to drive the rotor to tilt. As there is coupling between the two radial rotation degrees of freedom and it requires that rotor tilt with high precession and fast response, feedforward decoupling and internal model controller is proposed. Dynamic model for rotor tilting is established based on basic structure of LFMB. Feedforward decoupling matrix is designed to perform tilting decoupling in radial direction, then on this basis two-degree-of-freedom internal model controller is adopted to perform rotor tilting control with high precision and fast response. Simulation results by Matlab indicate that the proposed method can realize full decoupling for rotor tilting, and response time is reduced by 57.1% than that of traditional PID controller, and tilting fluctuation amplitude produced by disturbance is reduced by 76% than that of PID controller.