Servo motor used in computer numerical control (CNC) need be controlled precisely and fast. But the current servo driver based on Proportion (P) for error was not good for the high performance application. A novel control method based on model identification was proposed. Firstly, a least square algorithm was used to obtain the servo driver model. Then, a compensation controller based on P controller was designed for driving the gain of over transfer function equal to 1, so that the output could track the input signal precisely. The experiments demonstrated that the proposed modeling method and control algorithm could achieve high control performance.