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Considering about the characteristics of high speed, short response time and complex external environment of winged missile, a control method, which combined with Mixed Fuzzy-PID control algorithm and traditional PID algorithm, for digital missile rudder servo system is proposed. The control strategy includes two closed loops, position loop and speed loop. Mixed Fuzzy-PID control algorithm is used in the position loop. With the obtainment of position error and the change rate of position error of the rudder, it can improve the dynamic properties of the system effectively through the fuzzy control strategy. Meanwhile PI control strategy in the fuzzy controller can remove steady state error of the system immediately. In order to reduce high-frequency disturbance and improve frequency-domain characteristics of the servo system, classical PI control algorithm with incomplete derivative element is introduced in the speed loop. Finally, the results of both simulation and relative experiments prove that this control method can satisfy with the performance indexes for a kind of export missile rudder.