Although a permanent magnetic synchronous linear motor driven system using nonsingular fast terminal (NFT) sliding mode control (SMC) has exhibited good robustness in system stability maintenance, it tends to suffer tracking accuracy reduction due to disturbance of thrust ripple derived from both nonlinear friction along the stroke and nonlinear magnetic circuit of the motor. A NFT-SMC based control scheme with synthetic nonlinear disturbance force compensation for the driven system is presented to enhance its tracking precision. A theoretical analysis of tracking accuracy reduction due to disturbance forces under the SMC control is conducted on the basis of a dynamics model and the sliding mode surface for the system. A synthetic model based on Stribeck model and Fourier series is adopted to recognize the behavior of the thrust ripple induced by the double nonlinear factors. The method for parameters determination in recognition of the synthetic model is given in light of the differences between the measured tracking errors and the theoretical counterparts under NFT-SMC. Then the modified NFT-SMC scheme with the recognition model as a compensator is designed to restrain the influence due to the disturbances. The feasibility of the control scheme is verified both in a simulation system and on an experimental platform. Comparative experimental results demonstrate good performance of the presented controller in tracking precision enhancement in contrast to both feed forward PID and some recent existing SMC methods.