There are nonlinearities almost in all of the kinematic mechanisms. The accurate modeling and precise control are both challenging problems in the field of kinematic control. An approach to RLS-PSO parameter identification based on particle swarm optimization is approved, which gets a great model of servo turntable. The global optimization predictive controller based on predictive functional control(PFC) is applied to the servo turntable through modified two-step method. And the simulation results show the effectiveness of modeling method and control algorithm of the servo system.