A novel surface permanent magnet synchronous motor(SPMSM) speed control system is designed by using
nonlinear syncretized control method. Adaptive sliding mode speed controller is presented based on the extended state
observer(ESO) which observes the part of disturbance, and then compensates it to the system. The derivative of adaptive
control estimates the unknown uncertainty upper boundary. Active disturbance rejection–passivity-based current controller
is proposed, which simplifies the controller’s design, and strengthens the system’s robustness and the rapidity in the stable
foundation. The simulation results show that the advantages of adaptivity, strong robustness against parameter variations and
load disturbance are achieved by using this method, and the system has a satisfactory dynamic and static performance.