The sliding mode predictive controller based on an improved sliding mode reference trajectory is proposed for AC servo systems. On the basis of analysis of servo control systems, the position and velocity control strategy using the sliding mode predictive algorithm is developed. Combining the merits of the sliding mode and predictive control, the algorithm can improve the robustness and eliminate the chattering phenomenon. Moreover, according to the velocity profile during positioning, the sliding mode reference trajectory is designed in accordance with corresponding state motion curves to guarantee the desired dynamic characteristics. Finally, the application experiment is implemented and results demonstrate the feasibility and effectiveness of the proposed control scheme.