The purpose of this paper is to realize the composite image stabilization between inertial mechanical and electronic image in the platform of robotic bonic eyes, and a closed-loop control structure based on the acceleration closed loop is proposed to improve the accuracy of the stable platform. By using PI controller, we achieved a ternary closed loop constituted by current, acceleration and velocity, which is used to replace the traditional dual-velocity loop control with the acceleration ring. And We introduce a torque observer in the control loop which is based on a Kalman filter. Besides the Stribeck friction model is introduced in this circuit. The system controller is designed on the basis of considering the friction. In this paper, we built a simulation model of the entire control system in MATLAB, experimental results show that the isolation effect is about 66% in the case of sine wave disturbances with amplitude of 1° and frequency of 3Hz. Comparing with the general double closed loop control, the method proposed in this paper improves the performance of the isolation effect by 23%In the actual platform stability control has a better control effect.