In the permanent magnet synchronous motor (PMSM) drive system, it was difficult to achieve good dynamic performance and low energy consumption only by the signal controller or the energy controller. Therefore, presented a coordinated control strategy based on signal and energy. In order to speed up the dynamic response of PMSM, the signal controller was designed based on backstepping method. From the point of view of energy, the energy controller was designed by using the EulerLagrange (EL) model of passive control in order to reduce the energy loss of PMSM. At last, the coordination function was used to combine the above methods together. In addition, the methods of load torque estimation and controller design were developed when the load torque was unknown. Simulation was implemented by using MATLAB/Simulink, and its results showed that the coordinated control strategy could fully combine the advantages of the signal controller and the energy controller to improve the dynamic and steady state performance,minimize the energy loss of the system.