Abstract: In order to improve the design efficiency of control loop in optoelectronic tracking system that fixed on mobilebase, considering the angular disturbance of the moving platform,the target movement and tracking precision of system, based on system experimental modeling and parameter identification, an integrated design method of control loop was put forward, every controllers expression and a set of empirical formula were also provided.Additional, a semiphysical simulation system was verified.The maximum tracking error of sine input 2000sin(t)/3 mrad with equal disturbance 125sin(0.4t) mrad is less than 0.5 mrad，which can satisfy the rootmeansquare requirement for 0.5 mrad. The certain simulated test result of this hardwareinloop tracking test proves the validity of integrated design method.