To overcome friction drive nonlinear from the one-dimensional platform position driven by a butterfly-shaped linear ultrasonic motor, the fuzzy Takagi-Sugeno (T-S) models for the motor and the platform were established based on the working principle of a motor and the sector nonlinearity. Based on the T-S models, the servo positioning control algorithm without steady-state errors was designed by using augmented method. As the robust H∞ was considered, a disturbance rejection controller design for the T-S fuzzy models was presented. The designed control algorithm was realized on an embedded micro-controller. Experiments with different values of the stepper servo positioning were carried out. The experimental results show that the overshoot of the system in different step values is less than 4%. The experimental comparison of servo positioning control between the no-load and load conditions indicates that the system maximum overshoot is less than 5%. As compared with traditional PID control, the control system proposed in this paper gives higher positioning accuracy, good stability and an excellent robust.