The control of two-dimensional scanning mirror may encounter the problem of pulse interference and the parameter uncertainty caused by the equipment manufacturing error. A method for calculating the conservative bound of impulse response and designing a state feedback controller is proposed based on the robust pulse-peak theory. The parameter uncertainty should be considered when modeling the azimuth motor servo control system of two-dimensional scanning mirror. After LMI optimization, the conservative boundary of controller parameters and peak response is obtained. The simulation results show that the proposed method reduces the peak response by 20% and the recovery time by 50% compared with the conventional PID control method, and has a good suppression effect on the pulse interference of the two-dimensional scanning mirror.