This paper presents the HVDC system modelling for analysis of subsynchronous oscillation and the design of the subsynchronous oscillation damping controller in HVDC system with the aid of novel eigenvalue analysis program. The HVDC system models include both the steady-state model for power flow calculation and the dynamic model for constructing the state matrix. The design procedures of the subsynchronous oscillation damping controller (SODC), which is integrated with PI controller at rectifier, consist of three steps:1) to identify the dominant torsional oscillation mode in the AC/DC system;2) to determine the parameters of the SODC for compensating the phase lagging due to the rectifier controller;3) to validate the control parameters and to determine the appropriate gain using a time-domain simulation program. The proposed design method has been tested against two AC/DC systems for validation.