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This article suggests a robust cascade speed control algorithm for a permanent magnet synchronous motor (PMSM) combining the

classical feedback linearising (FL) method and the disturbance observers (DOBs) without the integrators. The contributions of this

method are twofold. The first one is to provide the simple DOBs for not only guaranteeing the closed-loop performance recovery

property but also removing the steady-state errors without the integrators with respect to the tracking errors. The second one is to

prove that the inner and outer loops are stabilised by the proposed cascade-type controller, simultaneously. The simulation and

experimental results reveal that the proposed method maintains the speed tracking performance to be satisfactory for a wide

operating region with the fixed control gain despite a plant-model mismatch where a 3-kW interior PMSM is utilised.