In order to improve the speed tracking accuracy and robustness of permanent magnet synchronous motor (PMSM) control system and suppress periodic torque ripple, a single-loop control strategy of PMSM based on integral sliding mode control and iterative learning method is proposed. The single-loop sliding mode control strategy is adopted in the controller to replace the traditional rotational speed and current cascade control, so that the control system structure is simplified and the dynamic response of the system is improved. The iterative learning control is introduced to effectively suppress the torque ripple caused by current harmonics and improve the steady-state control accuracy of rotational speed. In addition, aiming at the external load disturbances and model and parameter uncertainties of the system, a dual disturbance observer is designed to estimate the system disturbances. As a result, the robustness of the system is improved. Finally, the experimental verification of the proposed composite control strategy is completed. Experimental results show that the proposed control method has good dynamic performance, anti-interference ability and steady-state control accuracy.