To overcome friction drive nonlinear from the one-dimensional platform position driven by a butterfly-shaped linear ultrasonic motor,the fuzzy Takagi-Sugeno(T-S)models for the motor and the platform were established based on the working principle of a motor and the sector nonlinearity.Based on the T-S models,the servo positioning control algorithm without steady-state errors was designed by using augmented method.As the robust H∞ was considered,a disturbance rejection controller design for the T-S fuzzy models was presented.The designed control algorithm was realized on an embedded micro-controller.Experiments with different values of the stepper servo positioning were carried out.The experimental results show that the overshoot of the system in different step values is less than 4%.The experimental comparison of servo positioning control between the no-load and load conditions indicates that the system maximum overshoot is less than 5%.As compared with traditional PID control,the control system proposed in this paper gives higher positioning accuracy,good stability and an excellent robust.