This is a study of the design procedure establishment for an autonomous surveillance robot control system under continuous impulses. The purpose of the control system is to minimize vibration and misaiming when firing at a moving object from a gun installed on a surveillance robot. The surveillance robot was modeled using multi-body dynamic software (ADAMS and NASTRAN). In order to eliminate disturbances, the control system was designed by applying a disturbance observer. The designed control system effectively reduced 11Hz vibrations, and examined a control system required in high speed and high precision tracking. The simulation of the control algorithm used Matlab/Simulink. To examine whether the control results of the simulation and real control system program were the same, the inter-link of Matlab/Simulink and DSP is performed. Results of the disturbance observer function were satisfactory.