The control precision of gimbal system for a Control Moment Gyro (CMG) is a main factor affecting the output torque accuracy of the CMG. Generally,a harmonic driver a harmonic driver is adopted to improve the dynamic response ability of the gimbal system, however,the induced mechanical resonance seriously reduces the control precision of the gimbal system. In order to eliminate the resonance and satisfy the control precision of the gimbal system, a kinetic model was set up. A proper damping ratio was chosen to design the dominating poles according to the demands of gimbal system for dynamic performance. The zeroes induced by a controller were calculated to be equal to the poles induced by mechanical resonance, so that the mechanical resonance was eliminated. Simulation and experiment results show that the proposed method eliminates the gimbal resonance of the CMG, and the control precision of 0.175 rad/s is 0.002.When the gimbal system tracks a 0.175 sin(2πt) rad/s sine given velocity, the relative amplitude error is 3.28% and the phase error is 0.13 rad. The control performance satisfies the demands of CMG for high output torque precision very well.