In order to improve the dynamic trajectory tracking accuracy and anti-disturbance performance of position servo system, a control structure based on P-controller for position loop and pseudo derivative feedback controller (P-PDF) for speed loop is studied in this paper. Firstly, the limitation of traditional P-PI control structure that cannot take into account overshoot and response rapidity is analyzed. Then, the PDF control structure is analyzed and the parameter tunning method is derived, and the advantages of the control structure in reducing speed overshoot and improving anti-disturbance performance are proved. Finally, to solve the problem that the dynamic position error increases after the velocity feedforward is introduced based on P-PDF control structure, a feedforward compensation method is proposed which can significantly improve dynamic responsiveness. The experimental results show that the proposed control strategy can improve the position dynamic trajectory tracking accuracy and improve the anti-disturbance performance, which is suitable for the application where the high trajectory accuracy and dynamic response are required.