Abstract: Aiming at the influence of different types of disturbance on the motor during the operation of the linear motor, a composite layered control method is proposed. The disturbance received during the operation of the motor is divided into two types: the first type is periodic disturbance, and the second type is norm-bounded disturbance. The full-order disturbance observer and H_∞ control are designed separately, and the two are combined to form a compound control. In the dSPACE hardware-in-the-loop simulation platform, the strategy was verified by experiments. The experimental results show that the composite hierarchical control method divides the disturbance into different types and adopts different methods to deal with it. Compared with the traditional method, which treats all the disturbance as one type, it has a better anti-disturbance effect.