Although the traditional PID controller is widely used in many fields, the system parameters varying and external disturbances existing in the DC servo system will cause large overshoot or poor stability. To improve the performance of the PID controller, a compound servo control system combining the conventional PID control and the fuzzy control is presented to meet the demand of a vehicular antenna servo system in this paper. Incorporating the fuzzy control and the conventional PID control, this paper presents a design method of the fuzzy PID controller that is based on the fuzzy tuning rules and formed by integrating two above control ideas. Simulation results are presented to show the efficiency of the proposed controller. The practical control effect shows that the control system that adopts the fuzzy PID controller has better performance than that of the traditional PID control system, and meets the performance requirements of the servo system.