A synchronization control structure based on adjacent error coupling is proposed to implement the complete synchronization control and the proportional synchronization control by considering the tension fluctuation and register error of gravure printing machine. An auto-disturbance rejection controller is designed to obtain good tracking performance and implement the disturbance compensation according to the strong nonlinear and coupling characteristics of permanent magnet synchronous motors. The synchronization control strategy based on adjacent error coupling is modeled for the synchronization control of shaftless driven gravure printing machine. The results show that the synchronization control structure has high synchronization precision and stability performance. The proposed auto-disturbance rejection controller has good tracking performance and high disturbance rejection capability.