In order to solve the image spin problem in scanning imaging process of aerial camera, a fourchannel bilateral control system is adopted to compensate the image spin. In the system, the internalloop compensator is designed based on robust internalloop compensator structure. Firstly, Hinfinity mixed sensitivity optimization method is adopted to solve the robust controller in robust internalloop compensator. Secondly, the filter of the system is determined according to the reference model, then the systematically designed internalloop compensator is obtained. It is very important to improve the interference suppression performance as much as possible while guarantee the robust stability of the system, then the bilateral control image spin compensation accuracy of the system is improved through compromising between interference suppression and robust stability. Experiment results show that the proposed method can effectively suppress the influence of equivalent disturbance and improve the image spin compensation accuracy. The maximum and root mean square (RMS) values of the position compensation errors under dynamic scanning are (1.81×10-3)°, (5.224 74×10-4)°, respectively. Compared with traditional control system using disturbance observer, the compensation errors under dynamic scanning for the proposed system are reduced by 41.99%, 41.73%, respectively. So the image spin compensation accuracy of the fourchannel bilateral control system is improved.