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High accuracy servo control technique is one of the main factors affecting the measurement accuracy of atmospheric turbulence parameters. Considering the adaptive technology, the controller applicable to the differential image motion monitor was designed based on PID control strategy and could realize parameter self-tuning. When disturbance affects system or the system state changes, the self-adaptive controller is realized and the robustness is improved by changing controller parameters real-timely according to the expected pole assignment strategy and system identification. The results of simulation and experiment test show that with adaptive PID controller, the system's overshoot is reduced by 26% and its regulation time is shortened by 1.28 s when facing the constant disturbance, also, its peak missdistance and steady-state error are reduced by 41.78% and 29.3% when tracking the target with the speed of 20 mrad/s. The control effect of the adaptive PID controller is better than that of the common PID controller for reducing the overshoot, shortening the regulating time and improving the tracking performance.