Abstract: Insertion devices are key components of modern light sources such as Shanghai Synchrotron Radiation Facility (SSRF). The control system of insertion devices is mainly composed of motion control of high precision motor, position feedback, correction coil power supply control, front-end feedback and human interface. To implement all these functions and enable insertion devices to be interactive with SSRFS EPICS control system smoothly, a control system based on EPICS has been designed for the insertion devices. Then, all EPICS components have been integrated into one embedded controller by using embedded EPICS technology. With this method, the control system architecture has been simplified, which is more convenient for the maintenance. It has been demonstrated that this control system has integrated functions and good real-time feedback characteristics. With this control system, the insertion devices can enhance the stability of beam orbit and guarantee high quality of synchrotron radiation light for the SSRFs beam line stations.