Position dynamic fast response speed and without overshoot were two important indicators of the current highperformance position servo system, but proportional or proportional differential regulator could not meet both requirements at the same time, therefore a new positioning compound control strategy was proposed. First set the speed command with cosine function curve to ensure smooth movement without impact, than optimize the command position trajectory according to the speed command for avoid the impact of acceleration mutation. In the system control structure, the position pseudo derivative feedback control was proposed on the basis of feedforward control, this structure increases the system damping for reduces the position overshoot, and combined with feedforward control to ensure fast tracking performance simultaneously. the noise generated by derivative was avoid because of position differential operation was instead of pseudo derivative structure, and the range of the structural parameters was given. The results of simulation and experimental verified the feasibility and effectiveness of the control strategy.