To construct the world’s largest aperture radio telescope and equip the system with the highest sensitivity and image resolution, a new control system was developed for the 15-meter offset SKA antenna. A mathematical model was established, and the control loop algorithm was optimized and corrected to achieve high-precision drive and control of the azimuth, elevation, and feed indexing systems. Embedded software was used to switch operating modes for automatic tracking of astronomical targets, to improve the system pointing and tracking accuracy. The hardware and software tests of the system were completed. The result shows that its servo performance and electromagnetic compatibility meets the SKA observation requirements. Currently, this system is used at the SKA radio telescope, which will provide some support for astronomical research.