Abstract To solve the problems of slow convergence and serious system chatter in PMSM speed regulation of traditional exponential approach law sliding mode control (SMC), a PMSM fast terminal slip mode (NFTSM) beat free predictive current control (DPCC) strategy based on improved exponential control rate and extended sliding mode observer (ESO) is proposed. The non-singular fast terminal slip-mode controller based on improved exponential control rate and ESO is used in the speed loop. A new exponential approach law is proposed. The stability of the system is proved by using the Lyapunov function. The robustness of the speed controller is improved while reducing the vibration. DPCC control strategy based on ESO is adopted for the current loop to compensate comprehensive disturbance of the current loop. The experiment results show that the control strategy has good speed tracking performance and anti-jamming performance.