Abstract: To solve the problem of that the faults occurred frequently in conventional control system of an elevator door, a self-restraining control scheme is proposed for those faults, based on the theory of feed forward-cascade control. It means that the feed forward control is introduced in the double close-loop control system of speed and current. Describing the global structure and working principle of the control system, the system hardware configuration and design of softwares are developed with the DSP (digital signal processor) TMS320LF2407 taken as core element. A simple optoelectronic encoder is introduced in the system to detect rotor position, thus reducing 4 bistable switches to decrease cost and maintenance jobs. Testing results showed that by the control system designed the rate of door faults is reduced with high stability and precision provided to meet the requirements of control performance for elevator door.