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In this paper, a scheme of hybrid first and second order sliding mode control (HF&SOSMC) system is proposed to deal with the chattering phenomenon and preserve the robustness of the conventional sliding mode control(SMC) for a permanent-magnet synchronous motor (PMSM) servo drive. First, a field-orientation method for PMSM servo drive is introduced briefly. Then, the design of HF&SOSMC based on Lyapunov stability theorem is presented in detail. Next, for confronting the uncertainties and disturbances existed in practical application, a fuzzy logic inference system (FLIS) is utilized to obtain the suitable parameters of HF&SOSMC system. Finally, simulations and experiments show that the proposed method not only achieves favorable control performance, but also is robust with regard to external load disturbances and parameters variations.