The traditional sliding mode control (SMC) of permanent magnet synchronous motor (PMSM) had buffeting problem, and its robustness to perturbation was poor. In view of this problem, a method of active disturbances rejection control (ADRC) and passive-based control (PBC) for PMSM based on extended state observer (ESO) was proposed. In out speed loop, a adaptive SMC was designed, and the system disturbances were observed for feedforward compensation by using the ESO. In internal current loop, PBC was combined with ADRC to obtain the voltage reference in the dqrotating coordinate system. The new control method could effectively suppress the system buffeting and enhance the robustness of the system. The experimental results verified the effectiveness and practicability of the proposed method.