Permanent magnet synchronous motors (PMSMs) are widely used in industry and electric vehicles due to their high efficiency and good dynamic characteristics. In the field of sensorless control, accurate estimation of rotor position and ensuring stable speed control are still challenging topics despite many studies, especially under the conditions of variable load and speed and the interaction between the estimator and the controller. This paper proposes an improved control method that integrates a phase lock loop (PLL) into a sliding mode observer (SMO), and uses an integral sliding mode controller (ISMC). The PLL improves the estimation accuracy by reducing the phase lag and smoothing the output of the SMO, while the ISMC suppresses the steady-state error and reduces chattering more effectively than traditional methods. The proposed control structure shows the ability to maintain stability and fast response at a wide speed range, resulting in smoother and more efficient state transitions. Simulation results performed on MATLAB/Simulink have confirmed the effectiveness and potential application of this method in high-performance sensorless PMSM control systems.