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A nonlinear adaptive robust speed tracking controller is presented for a three-phase surface permanent magnet synchronous motor (SPSMS) considering the control strategy of maximum torque control (MTC) related to this motor. Ignoring the motor iron losses, the proposed controller is designed based on combination of input-output feedback linearization (IOFL) control and adaptive sliding mode technique. The proposed adaptive sliding mode controller estimates the unknown uncertainties without using sign(.) or sat(.) function. Hence, it reduces chattering or steady state error phenomenon. In addition, in order to make the drive system control robust to load torque disturbance, the stator current reference signal is predicted by another adaptive sliding mode controller that has a low sliding mode chattering. Finally, the effectiveness and feasibility of the proposed control approach is demonstrated by computer simulation. The results obtained confirm that the desired speed reference command is perfectly tracked in spite of motor parameter uncertainties and load torque disturbance.