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In allusion to the following error of servo control system is higher,and it's very difficult to cabling in the special working environment, so this paper proposes that algorithm for servo control system based on the triaxial gyro and accelerometer sensor. Micro controller (STM32F103RBT6) is used to process the position signal from gyro (L3G4200D), and data transmission between upper and lower control system by radio frequency technology, a composite algorithm which is Fuzzy-PID and advanced correction is apply to system by full closed-loop, build model and analyze the main error source in the Matlab/Simulation. Simulated result of experiment indicates that the dynamics following error low to 10-3, the regulation time less than 0.05s, the precision and real-time are improved greatly.