A position controller design was proposed to achieve fast and accurate setpoint motion in linear servo motors typically used in highperformance mechatronics systems. The controller adopted a combination of linear control and smooth nonlinear control. A reducedorder linear state observer was adopted to estimate the unmeasured motor speed. An integral action was also inserted to remove the steadystate error induced by unknown disturbance. The controller design was fully parameterized and could implement dynamic gain control, which facilitated the online tuning of parameters for performance optimization. The control scheme was applied to a permanent magnet linear motor servo system, and experimental verification using a TMS320F28335 DSC was conducted. The results show that the servo system is capable of tracking various target positions accurately with a desirable transient performance.