Swindon took the lead on 10 minutes after David Ball, on loan from Manchester City had the easy job of scoring from 6 yards out after being set up by Pericard.
Pericard then made it two just before half time after getting his toe to the ball to poke it across the line.
Torquay rarely looked like scoring throughout the game. Swindon did have a few more chances to extend their lead, but made it through into the area quarter finals without any problems.