Abstract： An indirect adaptive robust control with finite-time disturbance observer (FTDO) was proposed for DC motor servo systems with parametric uncertainties and uncertain nonlinearities. Indirect adaptive control for the parameter uncertainties and FTDO for the uncertain nonlinearities were integrated for compensation. The global uniform stability of the closed-loop system was proved by Lyapunov analysis. The simulation results reveal that the method proposed in this paper can accurately estimate the system parameters and disturbance, compared with the traditional control method, and hence it possesses the advantages of strong antidisturbance capability, good robustness and rapid response speed.