This paper will study Modeling and Control of Servo Rig using system identification tool box to model the system ,and applying adaptive control in order to have a good control over the (position and velocity) of Servo Rig . Firstly, illustrating how we can produce a mathematical model represents the chosen variable states (position and velocity) of the actual process (servo rig) via estimate the parameters of this model by choosing the best structure which will minimize Significance measure (S)which in turn should reduce the cost (YIC) in order to decrease the error between the identified data and the actual data. Secondly, applying an adaptive control to find appropriate controller for the process by using the models which will be estimated in part one; therefore we will study two different controllers (PI &PIP controllers) by two different identification methods. The first one is based on (STPI) Self Tuning method to calculate the settings of the PI controller automatically using the program (th_m_mex) for both velocity and position variable states, and applying these settings on the Simulator and the servo rig at the same time to yield a comparing response, and according to this result which is between the produced model response and the actual model response we will decide if the self-tuning method is suit for both variable states or only one of them, consequently, we will apply PIP controller which based on a Non Minimum State Space (NMSS) representation as an alternative method in case of the self tuning method did not give an acceptable response.