As well known when the linear machine is operated between two points repeatedly under positioning control, there are various positioning error at the moment of zero speed owing to the non-linear disturbance like as unpredictable friction force. To remove this positioning error, a simple least order disturbance observer is introduced and is actually implemented in this study. Due to this simple algorithm the over-all machine system can be modified to simple arbitrary given one-mass load without any disturbance. So, the total construction process for positioning control system is much easier than old one. Moreover, to generate a proper effective position profile with the limited actual machine force, a very powerful on-line mass identification algorithm using the load force estimator is presented. In the proposed mass identification algorithm, the exact load mass can be calculated during only one moving stage under a normally generated position profile. All presented algorithm is verified with experimental result with commercial linear servo machine system.