In　a　laser　tracking　control　system,　a　motor　drives　the　load　to　achieve　continuous　forward　and　reverse　rotation　speed　control,　and　the　magnitude　of　the　load　changes　periodically　during　the　motor　rotation　to　realize　tracking.　Based　on　these　characteristics,　we　propose　an　integral-separated　improved　variable　universe　fuzzy　proportional-integral　(PI)　control　method　with　torque　feedforward　compensation　method　in　this　study.　The　proposed　method　achieves　the　control　performances　of　fast　response,　high　steady-state　accuracy,　and　strong　anti-interference.　The　conventional　fuzzy　PI　control　method　achieves　good　performance　only　in　the　unidirectional　acceleration　of　a　motor;　therefore,　we　have　improved　its　fuzzy　rules,　and　designed　a　novel　universe　contraction-expansion　factor.　Additionally,　a　load　torque　observer　is　introduced　to　observe　and　compensate　for　the　external　load　and　to　further　improve　the　anti-interference　performance　of　the　tracking　control　system.　The　experimental　results　demonstrate　that　the　integral-separated　improved　variable-universe　fuzzy　PI　control　method　achieves　better　performance　in　the　forward　and　reverse　speed　regulation　processes　of　the　motor.　The　overshoot　is　92%　less　than　that　of　the　conventional　PI　control　when　the　target　speed　is　set　to　&　PLUSMN;500　rpm.　The　Luenberger　observer　is　introduced　to　observe　and　compensate　for　the　load　torque.　After　the　stabilizing　the　speed　and　applying　an　external　load　of　0.2　N　m　to　the　motor,　the　maximum　speed　reduction　is　observed　to　be　59%　less　than　that　obtained　using　the　conventional　PI　control.　The　improved　PI　control　method　satisfies　the　speed　loop　control　requirements　of　the　laser　tracking　control　system　and　can　improve　the　steady-state　tracking　accuracy　and　robustness　of　the　system.