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Abstract: Under the threat of cyber-attack and unmodelled uncertainty, the synchronization control performance for the multi-axis networked motion control system with directed graphs may deteriorate rapidly, hence a distributed intrusion-based synchronization control method based on distributed intermediate observer was proposed for case with directed graphs. The nonlinear unmodelled uncertainty was decomposed into matched component and mismatched component respectively. The attack, the leader’s unknown input and the matched uncertainty were combined as one signal, then the states of the tracking error and the combined signal were estimated by the designed distributed intermediate estimator. Based on the estimates, an intrusion-tolerant synchronization control protocol was designed. The tracking error system was proved to be stable via Lyapunov analysis. The experimental results show that the proposed method guarantees the multi-axis motion control system to have a good intrusion-tolerant and synchronization control performance, meanwhile, the robustness can be ensured by adjusting specific parameters.