The invention provides a control method and a controller. The method comprises the following steps of collecting a rotor position, a motor rotating speed, a quadrature-axis current, a direct-axis current of a permanent magnet synchronous motor and the pulse width modulation duty ratios of three bridge arms; compensating the rotor position according to the rotating speed of the motor; and calculating a three-phase current according to the compensated rotor position information, finally determining a bus current estimation value by using the three-phase current and a PWM value as the calculationinput of the bus current, and performing low-pass filtering on the bus current estimation value to obtain a target bus current value, thereby controlling the permanent magnet synchronous motor according to the target bus current value. According to the control method provided by the invention, the three-phase current can be compensated at any position, and in all working conditions, no matter whether the rotating speed of the motor is high or low, the estimation precision is higher, so that the engineering personnel can master the bus current at any time, and furthermore, the precise controlon the permanent magnet synchronous motor is realized.