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In the context of a certain type of ground-to-air missiles, by using visual servo technology, a servo controller is designed with photoelectric tracking system, which uses a semi-closed cycle structure. By analyzing the control objects, the permanent magnet DC motor is selected to be its actuator system, and a mathematical model is created after that. The servo controller designs the current loop feedback system to ensure rapid response, and provides the motor overcurrent protection. The Position loop is designed with series lead correction and PA signal amplifiers. By analyzing Bode diagram analysis, the system is eligible to meet the requirements. The simulation results show that the system has characteristics of fast responding, small overshooting, and the ability to quickly track smooth low frequency motion.