In order to solve the contradiction between the tracking speed and the peaking phenomenon of the linear motor, a PD controller was proposed via nonlinear extended state observer. The unmodeled dynamics and disturbance were defined as overall disturbance and viewed as a new system state. A NLESO (nonlinear extended state observer) was designed to estimate the velocity of the mover and the overall disturbance. With the linearization via dynamic compensation, a PD controller with compensation was designed by using the outputs from the NLESO and TD, and the stability proof of closed-loop control system was given. The effectiveness of the proposed controller was verified when compared with other two PD controllers based on LESO in the experimental platform made by Googol company. Experimental results demonstrate that the linear motor servo system with the proposed PD controller via NLESO has the advantages of high tracking speed, high tracking precision, small peaking phenomenon and strong robustness.