[Objective] In order to improve the dynamic response and robustness of permanent magnet linear synchronous motor (PMLSM) servo systems, a dual-closed-loop cascade composite control method was proposed, combining robust velocity control with delay compensation and plug-in repetitive proportional differential(PD) position control. [Methods] Initially, a robust velocity controller was designed based on the reference model robust compensation principle, which effectively addressed the modeling errors between the reference model and the actual system model, using an inverse system delay model to mitigate the effects of system transmission delays. In addition, to effectively suppress periodic external disturbances, a plug-in repetitive controller was integrated with the PD position controller, forming a plug-in repetitive PD position controller. [Results] Experimental results demonstrate that this dual closed-loop cascade control structure significantly reduces position errors, addresses the degradation of system performance and overshoot caused by transmission delays, and effectively mitigates the impact of external periodic disturbances. [Conclusion] The proposed composite control method enables the PMLSM position servo system to achieve high-precision tracking of periodic signals, thereby improving the system’s dynamic response and robustness.