Objective: Vibration interference causes the misalignment between the incident beam and the optical axis of the opto-mechanical terminal system, which also can significantly affect the control stability and reduce the system precision. To better improve the resilience of disturbance and the steady-state accuracy,Methods: a novel robustness servo design and disturbance rejection algorithm with iterative learning control for tracking error calibration is proposed. The availability of this system design has been proved from a dynamic tracking experiment, the operating modes are based on different disturbance conditions.Result: The experiment itself focused on the algorithm implementation and tracking stability based on the optical communication terminal assembly. The obtained steady-state response performance during the adjustment process indicates that the tracking errors are below 1.3 mu rad. The improved control design and algorithm implementation shows a better disturbance rejection ability. The new approach is also beneficial for the optical communication field.