Aiming at the synchronous control problem of dual-motor servo systems, a discrete tracking and synchronous control scheme is designed based on command filtered. By establishing discrete dynamic equations for a dual-motor system, the computational difficulty in backstepping design process of command filtered is reduced, and virtual control signals can also be processed simultaneously. Define compensation signals in the controller design to eliminate errors and improve tracking performance. The results shows that neural networks can handle nonlinear disturbances caused by shaft torque or backlash during motor operation efficiently. Finally, the stability of the control method was analyzed by Lyapunov, the results shows that the dual-motor servo system had good tracking and synchronous performance under the action of the controller.