Abstract: In order to improve the disturbance rejection of seeker stabilized platform, the servo control system was designed. The disturbance rejection model was proposed based on inertia space and the main factors that influence the disturbance rejection were shown. Then, the friction model was established based on the characteristic of friction and the friction adaptive compensation algorithm was proposed. The velocity controller was designed based on the pole-placement method while the lead-lag compensator was used as position controller. Simulation result indicated that the disturbance rejection of pitch frame improved 97.14 percent while the missile disturbance was 1 and 2 Hz. Experimental results showed that the disturbance rejection of two frame were 1.58%、1.81% and 2.84%、2.15% while the missile disturbance were 1 and 2 Hz and 3 and 3 Hz. The disturbance rejection of seeker stabilized platform was improved by using friction adaptive compensation.