<p>This paper presents a novel chattering free reaching law (CFRL) to design the sliding mode control (SMC) and disturbance observer (DOB) for rotational speed control together with the position control of an axial gap bearingless motor (AGBM) control system. As well known, in the traditional motor drive control the inversed problem is load torque. However, in the axial gap bearingless motor, the position of the rotor affect to the performance of speed control. Therefore, this paper presents disturbance observer for the rotational control and a robust control for position control. Furthermore, the reaching law of the disturbance observer is same with the reaching law of the sliding mode control. To obtain the goal, the reaching law is newly proposed together with the analysis of the stability proof. Second, the disturbance observer for the rotation is designed. Third, the sliding mode controllers for movement and rotation are designed to control the rotor at the center of the motor and the speed track the wanted value. Final, the stability analysis was given to prove the correction of the proposed method for controlling the bearigless motor. The obtained results of simulation and experimental studies shown that the proposed method is good for controlling such a nonlinear motor system.</p>