Abstract: Robot servo control systems are nonlinear multivariable control systems, which presents more complex problems for system development, making the development of robot control systems difficult. This paper proposes a robot servo system design scheme based on MatlabRTW. Based on a five-degree-of-freedom bomb disposal robot, the block diagram of the robot control system is designed in the MatlabRTW environment, and a real-time control system that can run on X86 is generated by compiling with the xPC target system. The system adopts a set of PID composite controllers with expert characteristics. The operation results show that the robot can move smoothly within a large load range, and the system has good robustness and real-time performance. This scheme realizes the rapid prototyping of robot servo system design. Keywords: Servo system; Industrial robot; PID controller; MatlabRTW Robots are currently a research hotspot, and their applications are becoming increasingly widespread. In response to the characteristics of counter-terrorism and bomb disposal work and the technical indicators of bomb disposal robots proposed by the Guangdong Provincial Public Security Department, the Bomb Disposal Robot Research Laboratory of South China University of Technology has developed a prototype bomb disposal robot. Conducting research on counter-terrorism and bomb disposal robots and developing counter-terrorism and bomb disposal robots with independent intellectual property rights is of great strategic significance for improving China's counter-terrorism capabilities and ensuring the smooth conduct of major political and economic activities. MATLAB is a high-performance numerical computation and visualization mathematical software, widely used as a standard design application software in scientific research and engineering design worldwide. RTW (Real-Time Workshop) is an important component of the MathWorks software suite. The seamless integration of RTW and MATLAB software not only meets the requirements of designers in system concept and scheme design, but also greatly facilitates the technical implementation of the system. This paper designs and develops a servo control system based on the mechanical body of a five-DOF bomb disposal robot. Previous researchers used microcontrollers as the core of robot onboard computing and control; this paper uses a PC/104 embedded computer as the underlying core unit, based on the MATLAB RTW development environment, to realize a more complex control process. Kinematic calculations are moved to the underlying embedded computer, and a PID controller with expert characteristics is designed, thereby shortening the development time of the robot servo system. For details, please click: Design Scheme of Robot Servo System Based on MATLAB RTW