The invention provides a networked 
servomotor control method based on a 
disturbance observer. According to the method, a measuring element acquires the 
angular displacement and 
angular velocity of a 
servomotor and sends the 
angular displacement and the 
angular velocity to the 
disturbance observer and a sliding mode controller through a network, the 
disturbance observer simultaneously reads 
historical control quantity values, stored in a control quantity buffer, and estimates a disturbance size and sends the disturbance size to the sliding mode controller, and the sliding mode controller obtains a control 
voltage signal through solving and sends the control 
voltage signal to the 
servomotor through the network so as to form closed-
loop network control on the servomotor. The method is applied to a servomotor 
system with external disturbance, and the networked control is realized through 
network connection, so that the 
interoperability, flexibility and the like of the 
system are improved; through selecting a sliding mode function with 
historical control input, the network-induced time 
delay is compensated, and the stability of the 
system is improved; and through designing the disturbance observer, the disturbance suppression is realized, the buffeting of the system is reduced, and the dynamic performance of the system is improved.