The position controller of the conventional servo system only adopts proportional control, without consideration of the response speed and stability margin of the system. In addition, error-free tracking for input signals such as slopes cannot be achieved. The system error is analyzed by constructing the transfer function model of the servo system, and then a feedforward and feedback compound controller is designed. The compound controller reconstructs the error transfer function of the system, and enables the system to accurately track a given signal. As a result, the tracking performance and stability of the servo system are improved. In order to further improve the dynamic performance of the current loop, a back electromotive force (EMF) feedforward potential compensation is added to the current loop to reduce the impact of the back-EMF on the current response. Simulation and experiment show that the feedforward and feedback compound control improves the dynamic performance and tracking accuracy of the position servo system, and the effectiveness of the proposed control can be verified.