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An adaptive robust controller was designed to overcome parameter deviation, load disturbance and the moment coupling existing in a Two-axis turret position servo system. For the high-order differential term of measurement signal comprising in the controller, an output differential observer was employed to reduce the noise influence on the controller. The simulation results show that the proposed controller can achieved a better tracking compared to PID and traditional adaptive robust controller, while the input can be more smooth. The dynamic and the steady performance can also be guaranteed.