Abstract: In order to track reference input signal and restrain disturbance signal accurately,this paper considers the equations of input and disturbance signal as a part of the problem formula and designs the robust tracking controller in the error space.Feedforward control is added to the robust tracking controller to improve the dynamic performance and the ability to restrain disturbance.Finally,the system can track no-attenuation input and restrain some disturbances with zero errors.If some parameters change,the controller also can track the input signal accurately.Simulation results indicate that the robustness,dynamic performance and stable performance of the system are good.