A IP position control strategy based on DRNN compensator for PMLSM is proposed in this paper. After contrasting to IP position controller based on disturbance observer. A nonlinear compensator is designed by DRNN, which has relatively robustness on parameter variations and load disturbances on aid of interior feedback structure and dynamic mapping ability. Meanwhile, a mending RPE algorithm is proposed to shorten training time by improving the adjusting velocity of weights. The simulation indicate that this strategy can improve tracing precision and enhance the systempsilas robustness.