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This paper proposes a sensorless control strategy for permanent magnet synchronous motors (PMSMs) based on a sliding mode observer (SMO), and high-speed PMSM sensorless velocity control is realized. To solve the serious chattering and phase lag problems of conventional SMOs, the continuous function is used as the control function, and the low-pass filter is improved into a back electromotive force (EMF) observer with an adaptive structure. In addition, the phase-locked loop is combined to perform the SMO-based sensorless control. The simulations and experiments prove the effectiveness of the proposed strategy.