Thispaper describes the schematicreview o f Travelling-wave type Ultrasonic Motor (T-USM) and a newly-proposed weigt-quality speed tracking controller of T-USM on the basics o f the computer software-based varia ble-gain adjustm en t stra tegy.Its speed tracking characteristics capable o f improving speed ripple, speed regulation and speed tracking characteristics are feasibly demonstrated i n experiment as compared with a previously-developed fuzzy-logic speed controller of T-USM actuated servo drive system. I t is proved that T-USMspeed control scheme developed herein i s practically acceptable for direct-drivespeed servo system.