Abstract—This paper presents the analysis and synthesis results of a sliding mode controller for tracking drive systems using a synchronous servo motor and its accompanying power amplifier. Considering a Permanent Magnet Synchronous Motor (PMSM) and its accompanying Power Amplifier (PA) as one object, the strict control law using traditional sliding-surface reaching speed and additional exponential components has created the anti-disturbance torque control signal for the system. Synthesis of the sliding mode controller is guaranteed mathematically based on Lyapunov stability. The disturbance compensation control component is quantified based on the upper and lower bounds of disturbance. Simulation in Matlab shows visual research findings.