<p>System dynamics characterization, multiple uncertainty analysis, and robust control are the main challenges in attaining high-response performance for artillery servo systems. To address these issues, this paper proposes a disturbance compensation-based robust internal model control scheme to achieve disturbance suppression and multi-performance assurance. Firstly, by integrating internal models with external uncertainties into a lumped disturbance, the position dynamics of the artillery servo system under disturbance excitation is established to reduce design complexity. Then, a PID-like robust internal model controller is designed to facilitate engineering implementation, where the integral sliding mode control is introduced to achieve disturbance suppression by utilizing the bounds of parameter uncertainties and disturbances. Moreover, a finite-time extended state observe is constructed to estimate the lumped disturbance and implement active compensation control, thereby achieving rapid estimation and chattering suppression. Sequentially, both the stability of the closed-loop system and observer error dynamics are rigorously analyzed. Simulation experiments on the artillery servo system indicate that the proposed scheme exhibits strong robustness against multiple uncertainties, and achieves promising response performance in both transient and steady-state phases.</p>