This paper explain the design of visual control system which equip Kalman filter as an additional subsystem to predict object movement. It is a method to overcome some weakness, such as low range view of camera and low FPS (Frame per Second). It alsoassist the system to track a fast moving object. The system is implemented to 2 motor servos, which are move on horizontal and vertical axis. Digital PID (Proportional, Integral, and Derivative) controller is used in the system, and bilinear transformation is used to approximate the value of derivative in transforming the analogue to digital controller on ztransform.In conclusion, we can get the value of system responses time from both motor servos. The rise time and settling time of motor servo in horizontal axis are 0.402s and 1.63s, and vertical axis’s responses are 0.38s and 1.34s.