To address the problem of debris accumulation in small-hole electrical discharge machine (EDM) and simplify the design of the spindle head, the paper proposes a novel composite motion design procedure integrated high frequency vibration and large stroke feed using one voice coil motor (VCM). Particularly, for the purposes of high servo accuracy and high frequency response of the composite motion, an improved zero-phase-error tracking controller (ZPETC) algorithm decoupled with the feedback controller is developed for the process control, in which the feedback parameter adjustment is very simple to reduce the computation complexity. At last, the proposed procedure is validated by the experimental study of the established VCM positioning table; the results verify the efficiency of the proposed method.