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This paper designs a novel control method for energy efficient and wide speed range drive of the PMSM. The proposed method includes several parts: (1) using a PI speed controller to create a signed current norm value as input of the command converter. (2)The command converter can simply and accurately generate an analytical current command according to the current control standard satisfying the maximizing/current ratio or voltage limitations. (3) Take output current commands of the command converter as the system equilibrium points and apply the interconnection and damping assignment passivity based control (IDA-PBC) to make the system stable. (4) A sliding mode observer is designed and applied to estimate the rotor speed. (5) Simulation results show the system provides a better performance in accurately tracking the variable rotor speed and being robust to the load torque disturbance.