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This paper presents the design of a simple and effective speed and position observer for a Surface Permanent Magnet Synchronous Motor (SPMSM). The proposed observer based on Higher Order Sliding Mode (HOSM) is designed in order to ensure the robustness against disturbances and to avoid the chattering phenomenon which is inherent in standard first order sliding mode. The stability and finite time convergence of the developed observer are studied. Simulations are carried out using Matlab/Simulink to illustrate the robustness and the stability of the proposed observer.