With the rapid development of modern technology, high performance demands put forward higher requirements for servo control technologies. Meanwhile, robust and optimal control technology has shown great advantages in the application, such as, radar antenna, CNC machine tool, robotic manipulator, mobile robot and hard disk drive servo systems, which plays an increasingly important role in servo control field. In this paper, we review several problems and approaches in the robust and optimal control theory from the view of point of its application in servo control systems. And then by taking the vehicle antenna system as an application example, we discuss the several issues in servo control design, including performance index, model identification, robust analysis and control design, etc., and the importance of combining the modern control theory and classical frequency domain methods in servo control design. We summarize main stream robust and optimal control algorithms(loop shaping, H_∞, mu synthesis, $H_2$, mixed $H_2/H_{\infty