diff --git a/include/dto/control_test_attitude_feedback.h b/include/dto/control_test_attitude_feedback.h
new file mode 100644
index 0000000..de19b4e
--- /dev/null
+++ b/include/dto/control_test_attitude_feedback.h
@@ -0,0 +1,40 @@
+#ifndef CONTROL_TEST_ATTITUDE_FEEDBACK_H
+#define CONTROL_TEST_ATTITUDE_FEEDBACK_H
+
+#include <cstdint>
+
+#include "../enum/icd_id.h"
+
+// 좌표계:
+//   - 쿼터니언/각속도/가속도: Body
+// 스케일:
+//   - 쿼터니언: 0.001 (단위 쿼터니언, |q|=1)
+//   - 각속도: 0.001 rad/s
+//   - 가속도: 0.001 m/s² (mm/s²)
+#pragma pack(push, 1)
+struct ControlTestAttitudeFeedback {
+  IcdId message_id;
+
+  // 미사일 쿼터니언 (Body → NED 회전, 0.001 scalar)
+  int32_t q_w;
+  int32_t q_x;
+  int32_t q_y;
+  int32_t q_z;
+
+  // 미사일 각속도 (Body frame, 0.001 rad/s)
+  //   omega_p : roll rate  (body X)
+  //   omega_q : pitch rate (body Y)
+  //   omega_r : yaw rate   (body Z)
+  int32_t omega_p;
+  int32_t omega_q;
+  int32_t omega_r;
+
+  // 미사일 가속도 (Body frame, 0.001 m/s²)
+  //   IMU 가속도계 측정값 (specific force)
+  int32_t accel_x;  // body X (전방)
+  int32_t accel_y;  // body Y (우측)
+  int32_t accel_z;  // body Z (아래)
+};
+#pragma pack(pop)
+
+#endif  // CONTROL_TEST_ATTITUDE_FEEDBACK_H
diff --git a/include/dto/control_test_command.h b/include/dto/control_test_command.h
new file mode 100644
index 0000000..b70f922
--- /dev/null
+++ b/include/dto/control_test_command.h
@@ -0,0 +1,15 @@
+#ifndef CONTROL_TEST_COMMAND_H
+#define CONTROL_TEST_COMMAND_H
+
+#include <cstdint>
+
+#include "../enum/icd_id.h"
+
+#pragma pack(push, 1)
+struct ControlTestCommand {
+  IcdId message_id;
+  uint8_t start;  // 1 = 시작, 0 = 종료
+};
+#pragma pack(pop)
+
+#endif  // CONTROL_TEST_COMMAND_H
diff --git a/include/dto/control_test_missile_target_state.h b/include/dto/control_test_missile_target_state.h
new file mode 100644
index 0000000..4d5146b
--- /dev/null
+++ b/include/dto/control_test_missile_target_state.h
@@ -0,0 +1,39 @@
+#ifndef CONTROL_TEST_MISSILE_TARGET_STATE_H
+#define CONTROL_TEST_MISSILE_TARGET_STATE_H
+
+#include <cstdint>
+
+#include "../enum/icd_id.h"
+
+// 좌표계:
+//   - 위치/속도: NED (발사점 원점)
+// 스케일:
+//   - 위치: 0.01 m (cm)
+//   - 속도: 0.001 m/s (mm/s)
+#pragma pack(push, 1)
+struct ControlTestMissileTargetState {
+  IcdId message_id;
+
+  // 미사일 위치 (발사점 기준 NED, 0.01 m)
+  int32_t missile_pos_n;
+  int32_t missile_pos_e;
+  int32_t missile_pos_d;
+
+  // 미사일 속도 (NED, 0.001 m/s)
+  int32_t missile_vel_n;
+  int32_t missile_vel_e;
+  int32_t missile_vel_d;
+
+  // 표적 위치 (발사점 기준 NED, 0.01 m)
+  int32_t target_pos_n;
+  int32_t target_pos_e;
+  int32_t target_pos_d;
+
+  // 표적 속도 (NED, 0.001 m/s)
+  int32_t target_vel_n;
+  int32_t target_vel_e;
+  int32_t target_vel_d;
+};
+#pragma pack(pop)
+
+#endif  // CONTROL_TEST_MISSILE_TARGET_STATE_H
diff --git a/include/dto/navigation_test_command.h b/include/dto/navigation_test_command.h
index e4a8271..484de81 100644
--- a/include/dto/navigation_test_command.h
+++ b/include/dto/navigation_test_command.h
@@ -5,14 +5,10 @@
 
 #include "../enum/icd_id.h"
 
-// ICD-27: 항법시험 명령 (UI -> GCU)
-//   시험 시작/종료 알림
-//   start = 1 : 시험 시작 (ICD-26/25 송수신 시작)
-//   start = 0 : 시험 종료 (UART 입력으로 알고리즘 변경 가능)
 #pragma pack(push, 1)
 struct NavigationTestCommand {
-  IcdId   message_id;
-  uint8_t start;   // 1 = 시작, 0 = 종료
+  IcdId message_id;
+  uint8_t start;  // 1 = 시작, 0 = 종료
 };
 #pragma pack(pop)
 
diff --git a/include/enum/icd_id.h b/include/enum/icd_id.h
index cd62fb8..7078be4 100644
--- a/include/enum/icd_id.h
+++ b/include/enum/icd_id.h
@@ -37,6 +37,11 @@ enum class IcdId : uint16_t {
   MISSILE_TARGET_STATE =
       0x0019,  // 미사일/표적 참값 상태 (missile_target_state)
   NAVIGATION_TEST_COMMAND = 0x001A,  // 항법시험 명령 (navigation_test_command)
+  CONTROL_TEST_COMMAND = 0x001B,     // 제어시험 명령 (control_test_command)
+  CONTROL_TEST_MISSILE_TARGET_STATE =
+      0x001C,  // 제어시험 미사일/표적 상태 (control_test_missile_target_state)
+  CONTROL_TEST_ATTITUDE_FEEDBACK =
+      0x001D  // 제어시험 자세 피드백 (control_test_attitude_feedback)
   COMM_RELIABLE_TEST = 0xFFF0,  // 통신 신뢰성 테스트용 ICD ID (comm_reliable_test)
   COMM_BIG_DATA_TEST = 0xFFF1   // 통신 대용량 데이터 테스트용 ICD ID (comm_big_data_test)
 };