The invention relates to a PMSM 
servo system control method based on fuzzy and 
active disturbance rejection control. A position 
signal is given by a differential tracker to arrange a transition process so that the contradiction between rapidness and overshoot of a 
system is solved, and uncertainty, friction torques and external disturbance due to modeling errors of the 
system are observed via an expansion 
state observer; according to the error between the differentials generated by the differential tracker and 
state variation generated by the expansion 
state observer, a 
fuzzy inference rule is obtained with application of experimental experience of technical staff, so that a 
fuzzy rule control table of an error proportion coefficient, a 
differential coefficient and an integration coefficient is established; accurate control amount is obtained after de-fuzzification, so that parameter self-adaptive adjustment of a nonlinear 
error feedback control law is realized; and compensation amounts of the nonlinear 
error feedback control law and the expansion 
state observer to the total disturbance forms the control amount, thereby realizing 
optimal control for an controlled object. The method of the invention improves both tracking precision and disturbance rejection capability of the system.