[Objective] Laser communication, laser tracking and measurement, and anti-unmanned aerial vehicle system require high servo performance in optoelectronic tracking systems. However, the existing solutions based on industrial computers or commercial controllers are often constrained by closed technology, limited potential for secondary development, and large physical footprints, thereby failing to meet the demand for miniaturization and integration. There is a strong need for a more portable and efficient servo control system. [Methods] This paper designed an embedded integrated servo controller based on a microcontroller, which adopted the synergistic architecture of field programmable gate array and STM32, and offered high customizability and flexible interface expansion. At the same time, a switching control algorithm incorporating a smoothing factor was introduced to improve the traditional proportional integral derivative (PID) control, which effectively optimized the overshoot and dynamic tracking error of the optoelectronic tracking turntable. [Results] Based on the designed servo control system and the improved servo control algorithm, the design of a high-precision servo control system for optoelectronic tracking system was realized, which solved the problems of the limitations of the encoder feedback rate on the servo frequency as well as the insufficient number of interfaces of commercial control board. And the experiments were carried out on a two-axis turntable. The experimental results showed that compared with the traditional PID control, the proposed switching PID control incorporating a smoothing factor resulted in a 23.36% reduction in the overshoot and a 59.2% reduction in the sine tracking error. [Conclusion] The servo control system designed in this paper can meet the demand of miniaturization and integration of the modern optoelectronic tracking system and has good expandability, and the proposed algorithm can effectively reduce the overshoot of the system and improve the dynamic performance of the system.