Abstract: For two-inertia elastic drive system, the parameters of the IP and PI speed control system are designed based on the pole assignment method, and the damping characteristics of the system are analyzed. In order to improve the rapidity and stability of the system, two-degree-of-freedom control technology is introduced by adding a feedforward regulation factor. The simulation analysis shows that the two-degree-of-freedom control combined with pole assignment method can ensure performance balance between rapidity and stability of the speed control system. Finally, the effectivenesses of the design are demonstrated by experiments.