Recenth, servo presses driven by servo motors have become widely into use. In this research, we derive the optimal control inputs of the slide and die cushion and (mjectorv which fills the suitable thdex of foniiabilitv and productivity using shock control. It aims to design the control s stem for securing the robustness for friction or a parameter error. The contact load of the slide and the die cushion, bottom dead point and its arrival time are used as the index. In derivation of the optimal control inputs and trajecton. we proposed method of applying final-state control by dividing from the collision of the slide and the die cushion until reaching the bottom dead point into Iwo Stages. In oider to secure the robustness we propose the control system which changes control flexibility. By cariying out numerical simulations and experiments, it is verified that the control system has good pcmi'ormance.