Aiming at the problem that traditional single detection algorithm models have low detection rate and slow detection speed on different types of attacks in industrial control system, an intrusion detection model combining optimized Support Vector Machine (SVM) and K-means++algorithm was proposed. Firstly, the original dataset was preprocessed by Principal Component Analysis (PCA) to eliminate its correlation. Secondly, an adaptive mutation process was added to Particle Swarm Optimization (PSO) algorithm to avoid falling into local optimal solution during the training process. Thirdly, the PSO with Adaptive Mutation (AMPSO) algorithm was used to optimize the kernel function and penalty parameters of the SVM. Finally, a K-means algorithm improved by density center method was united with the optimized support vector machine to form the intrusion detection model, achieving anomaly detection of industrial control system. The experimental results show that the proposed method can significantly improve the detection speed and the detection rate of various attacks.