This paper presents a new pole-zero-assignment-based design method of a two-degree-of-freedom PID controller which is applicable to both positioning and tracking drives of linear servo motors. This method can uniquely determine the five PID control parameters by only giving five items; namely, mover mass, maximum load mass, thrust constant, cutoff frequency of position control system, crossover frequency of sensitivity and complementary sensitivity functions, and pole-angle in the s-plane. Simulation and experimental results validate the proposed method.