Abstract:A way of selfadaptive velocity plus acceleration feedforward control for the linear motor control was proposed, by aimed at servo control of the linear motor. The feedforward coefficient was adjusted for the compound control. As compared with the only acceleration feedforward, speed feedforward and feedback control, the overshoot and settling time of system were able to be reduced greatly, as well as having a faster respond speed and better static and dynamic characteristics. Therefore, it allowed of linear motor to be even better applied to the high requirements in speed and precision system. Finally, the MATLAB simulation and experiments are carried out.