In areas of high-precision position tracking and the quality improvement of servo system, traditional PID control has shown a lot of defects. The control interference and measure noise from the system deeply affect the tracking accuracy of servo system. According to the control problems of controlled targets in actual operation, the traditional PID control algorithm is improved. A control method which combines a repetition control compensation PID with a Kalman filter with feedforward compensation is proposed. By stimulation experiments testing, the control method can be used to track periodic input signals and has good suppression random disturbances and robustness.