Abstract: When using traditional active disturbance rejection control for permanent magnet synchronous motors, there are problems such as many parameters to be tuned, which leads to difficult debugging and slow dynamic response. This paper proposes an improved sliding mode active disturbance rejection controller. Firstly, the error function of the improved linear extended state observer is modified to improve the convergence speed of the observer and the observation accuracy of internal and external disturbances. Secondly, the linear state error feedback is improved by using the super-twisting sliding mode control to improve the convergence speed of the controller, and the Sigmoid function is used to replace the switching function to reduce the system chattering. Finally, a simulation model was built in MATLAB/Simulink to verify that the control strategy proposed in this paper shows better transient performance and stronger disturbance resistance compared to traditional active disturbance rejection.