The invention relates to a linear optimization auto-disturbance-rejection compound Kalman filter control method of a motor synchronous system. The control method is characterized by comprising the following steps of a) designing a main motor speed control module; and b) designing a slave motor tension control module, in which the slave motor tension control module is determined to be a second-order control system according to a mathematical model of the slave motor tension control module, a second-order optimal linear auto-disturbance-rejection controller is designed, a corresponding Kalman filter is simultaneously designed according to the mathematical model of the slave motor tension control module, and finally, closed-loop filter compound control is completed by taking an output of the Kalman filter as an input reference of the linear optimization auto-disturbance-rejection controller. By the control method, the problem of a measurement error existing in an output end of an existing system applying pure linear optimization auto-disturbance-rejection control is effectively solved.