Abstract: In order to improve tracking precision of traditional PID control system without system dynamic performance degradation,a high-order control method is brought forward to design the II-order tracking servo system for the theodolite.According to the characteristics of the theodolite tracking servo system,a high-degree-mode dynamic control method is adopted to adjust the dynamic tracking,and it decides the addition and reduction of integral according to whether the product of error and error ratio is positive or negative.The high-degree-mode dynamic control me-(thod) achieves a better tracking performance.It can not only improve the tracking precision and speed,but also appropriately enhance the constant of integral without system stability degradation,overcoming the integral saturation problem in traditional integral methods. Simulation results show that the proposed method can obtain better tracking and dynamic performance than other methods.