Due to the multivariable, nonlinear and high coupling characteristics of a linear permanent-magnet vernier machine, a method based on support vector machine(SVM) generalized inverse-based internal model control(IMC) is proposed. The existence of the generalized inverse is verified, then the pseudo-linear system is formed by connecting the original system with the generalized inverse system identified by the SVM. Moreover, the IMC theory is utilized to design extra controllers to improve the robustness of the whole motor drive system. The simulation results show that the proposed control system has good performances of decoupling and resistance to interference.