In order to reduce beam jitter introduced by all kinds of broadband and narrowband disturbance, and improve the satellite acquisition, pointing and tracking (ATP) system′s pointing accuracy, a new kind of composite control is constructed based on the traditional proportional-integral-differential (PID) feedback algorithm and the new adaptive feedforward algorithm. It can reduce the jitter that satellite ATP system bears better than the traditional PID feedback algorithm. It not only has the merits of both algorithms, but also has the merit of no extra sensors for feedforward loop compared with the common adaptive feedfoward algorithms. So the algorithm will not improve cost and complexity of the system. The algorithms referred above are verified by experiments and comparisons are made. Experimental results indicate that the error adaptive feedforward composite control algorithm′s accuracy is nearly 5 times better than that of the classical PID control algorithm and 1 time better than that of the adaptive feedforward algorithm. The error adaptive feedforward algorithm can reduce beam jitter and improve the satellite ATP system′s pointing accuracy.