In order to further improve the speed control performance of active disturbance rejection controller (ADRC) for permanent magnet synchronous motor (PMSM), and simplify the complexity of controller parameter setting, a compound ADRC control strategy is proposed. Firstly, the sliding mode ADRC with fuzzy parameter tuning is used in the velocity loop, and the tuning methods of the main parameters is analyzed. Secondly, a sliding mode torque observer is designed to estimate the real-time load torque. Finally, the current loop is designed, and the finite set model predictive control (FCS-MPC) is used to optimize 8 kinds of switching sequences of three-phase two-level voltage source inverter and suppress torque pulsation. The simulation results show that the composite control strategy can effectively improve the control performance of the permanent magnet synchronous motor ADRC, enhance the anti-disturbance ability and robustness of the system, and the control performance is better than the traditional ADRC control and PI control.