In order to improve the dynamic tracking performance of periscope laser communication terminal servo system, the control system of two dimensional servo turntable based on permanent magnet synchronous motor was designed in this paper. The field oriented control method was adopted to realize the decoupling control of the motor, the control model was established and the design of each control loop was completed. Then, the iterative learning control (ILC) method was designed for the dynamic target tracking to improve the terminal dynamic tracking performance, the speed step response of the control system was tested and the low speed stability of the communication terminal system was analyzed. Finally, the dynamic tracking experiment of 4.62 km laser communication was set up, and platform jitter was simulated with a six-degree freedom turntable to create disturbance conditions of external platform for dynamic tracking verification test. Experimental results show that the steady-state error of the speed step response for the communication terminal system is 0.02 (°)/s, which shows that speed loop servo system has fast dynamic response and high steady precision, based on the maximum acceleration of 0.219 (°)/s² sine wave disturbance conditions, the dynamic coarse tracking precision for the two-dimensional servo turntable can reach to 62 μrad, the accuracy of coarse and fine tracking is 2 μrad, the effectiveness of the communication terminal servo system and its dynamic tracking performance is verified, which lay the foundation to further improve the tracking precision of terminal system.