There are many uncertain sensitive issues such as parameter disturbance and edge effect when PMLSM running. In order to solve these problems, a method called mixed robust optimal and H controller is presented. Robust optimal and H∞ control strategy is made use to design the mixed robust optimal and H controller of PMLSM. Large external disturbance and internal nonlinear perturbations can well be eliminated by this controller, and it’s easy to be practiced. MATLAB/SIMULINK is made use to simulate the system. With the help of PMAC board and COPLY controller permanent brushless motor controller, hardware test platform is built. The test results show that mixed robust optimal and H controller has strong robustness and traceability compared with traditional PID control method.