In this paper, aiming at the security challenges faced by the two-link manipulator system widely used in industrial automation in the mixed attack environment, a high-performance safety controller design scheme is proposed. Through in-depth analysis of the characteristics and the influence mechanism of hybrid attacks, combined with the dynamics and kinematics characteristics of the two-link manipulator system, this study innovatively proposed a safety control method based on active disturbance rejection control (ADRC) and robust control strategy. This method improves the accuracy and robustness of system state estimation through the fusion of an acceleration observer and a parameter observer. The position error of the manipulator is 2.3%, the velocity error is 2.9%, and the acceleration error is 4.7%, which verifies the accuracy of the model. Set the sine wave trajectory, the position error is less than 1 cm, showing good trajectory tracking ability. When a sudden external force is applied, the mechanical arm gradually recovers under the action of the control system, showing robustness and rapid response characteristics. Simulate the attack scene to delay the control instruction, and the controller gradually corrects the delay effect to effectively deal with the attack. The experimental results show that the designed security controller can effectively resist hybrid attacks, ensure that the system can still maintain high stability and security when attacked, and show good dynamic performance and security performance. This study provides a new idea and method for the safety protection of industrial control system.