This paper presents a nonlinear adaptive robust controller optimize design based on genetic algorithm for permanent magnet linear motor servo system. On the basis of the permanent magnet linear motor servo system nonlinear mathematical model, an error system dynamic equation is set up in order to reach accurate track of the motor speed and current. The track and disturbance restraint is summed up nonlinear adaptive robust control question. Furthermore, a theory including formulaes of resistance and inductance identification used to describe nonlinear adaptive robust robust controller is obtained by defining storage function, the nonlinear adaptive robust control law which met disturbance restraint and asymptotical stability is proved. Finally, genetic algorithm is used to optimize parameters of nonlinear adaptive robust controller. The results of simulation test indicate that the linear servo system with nonlinear adaptive robust controller can guarantee a good disturbance restraint as well as the tracks of input signal, and can finally satisfy control requirement for high-performance linear servo system.