Vibration disturbances generated by cryocooler, representing in a series of harmonics, are critical issue in practical application. A control system including electronic circuit and mechanical actuator has been developed to attenuate the vibration. The control algorithm executes as a series of adaptive narrowband notch filters to reduce corresponding harmonics. The algorithm does not require actuator transfer function, thus ensure its adaptiveness. Using this algorithm, all the vibration harmonics of cryocooler were attenuated by a factor of more than 45.9 dB, i.e., the residual vibration force was reduced from 20.1Nrms to 0.102Nrms over the 300 Hz control bandwidth, the converging time is only less than 20 seconds, and the power consumption of mechanical actuator is less than half a watt. The vibration control system has achieved the general requirement of Infrared application.