The　virtual　synchronous　generator　(VSG)　introduces　rotational　inertia　and　damping　through　the　droop　control　to　take　part　in　frequency　regulation　of　the　grid.　By　building　the　VSG　model,　the　VSG　controller,　including　both　the　frequency　controller　and　the　excitation　controller,　are　analysed　and　designed.　The　analysis　shows　that　the　large　phase　difference　Delta　theta　between　the　VSG　voltage　and　the　grid　voltage　at　the　grid-tied　moment　may　produce　large　power　and　damage　the　VSG.　The　proposed　pre-synchronization　control　minimizes　the　phase　difference,　which　is　implemented　by　replacing　Delta　theta　with　sin　Delta　theta　to　avoid　any　step　change　from　Delta　theta.　The　proposed　method　is　able　to　simplify　control,　shorten　pre-synchronization　tracking　time,　and　achieve　high　accuracy　without　a　phase-lock　loop.　The　built　12　kW　VSG　simulation　and　prototype　verify　the　theoretical　analysis,　the　proposed　control　and　its　associated　design.