The position tracking accuracy of permanent magnet linear synchronous motor (PMLSM) servo system is susceptible to uncertain factors such as friction and load disturbance. In view of the problem, a nonsingular fast terminal sliding mode control (NFTSMC) method based on friction and disturbance compensation is used to design the position controller. Firstly, the PMLSM dynamic model with Stribeck friction model is established, and the natural selection particle swarm optimization (PSO) algorithm is used to identify the off\|line parameters of the friction model. Secondly, the NFTSMC method is used to ensure the rapid convergence of the system state and avoid singular problems, and the identified friction model is used for compensation. Finally, the sliding mode observer is used to observe and compensate the total uncertainty, which weakens the chattering phenomenon. Simulation results verify that the control strategy improves the position tracking accuracy, and has fast convergence and strong disturbance immunity.