During the erecting of the large missile driven electrically by motor, the servo motor has large erecting force and time-varying load, and the erecting speed should be tracked in real time. To solve the problems, feedback linearization control is adopted to solve the problem of angular velocity coupling with electric current in nonlinear systems of Permanent Magnetic Synchronous Motor (PMSM). Simulation is made to traditional PI control and by taking Id, Iq, and ω, Id respectively as the inputs of the controller. The experiment result shows that: Control of PMSM based on feedback linearization can improve the dynamic response speed of erecting device, effectively prevent the possible reverse speed of motor in the initial stage of erecting, and increase the stability of the load during erecting. This is meaningful to the control of electric vertical erection for large missiles.