The main purpose of this article is to propose a linear model-based approach for improving the tracking performance of linear motors. In particular, P-and PI-controllers, augmented with a linear-model-based feedforward controller and disturbance observer (DOB), were utilized in this research. Experimental results show that the feedforward controller can substantially reduce the phase-delay problem resulting from the limitation of closed-loop bandwidth. In addition, the DOB can reject nonlinear behaviors to keep a motor-system close to our nominal linear model. Compared with the results of using P-and PI-controllers only, tracking errors were reduced from 4.44% to 0.67% of the desired trajectory. Therefore, the proposed method provides a solution for improving the tracking performance of linear motors.