The antenna system constitutes an essential component of the Electron Cyclotron Resonance Heating (ECRH) system, which is employed to inject high-power millimeter waves precisely to the specific internal resonance layer required for EAST experiments, realizing plasma heating, current driving, and magnetohydrodynamic (MHD) instability control. Therefore, an ECRH antenna control system was designed to fulfill the above requirements. The system employs the NI CompactRIO controller as the lower computer and utilizes LabVIEW as the programming language for software development. This paper decomposes the software architecture into functional modules and elaborates on the servo motor motion control module. Furthermore, the motor servo control system is modeled and simulated in MATLAB/Simulink. Then the response-time testing and position followability testing are carried out on the test bench. The measured response time of the small-angle scanning motion of the SM was less than 50 ms∕1◦, and the index values for tracking error of the light spots are within the range of 0.1 to 1. The test results demonstrate that the antenna control system exhibits high position control accuracy and excellent response performance, which holds significant application value for the investigation of Experimental Advanced Superconducting Tokamak (EAST) experiments, as well as providing a valuable reference for the development of similar control systems in the future fusion reactors.