Aiming at the factors affecting the stable operation of permanent magnet synchronous motor, such as external load disturbance and internal and external noise, a nonlinear self-resistant speed control method based on the Levant differentiation and the expansion observer compensation is proposed to improve the dynamic response and robustness of the motor. The Levant differentiation has the functions of tracking the input signal, suppressing the noise in the input signal and extracting the acceleration signal. The Levant differentiation can track the input signal, suppress the noise in the input signal and extract the acceleration signal. In this paper, an expansion observer is designed to introduce the observation results of the disturbance term into the controller to improve the control accuracy. By analyzing the Lyapunov stabilization theory, the adopted dilation observer has fast parameter estimation effect and excellent tracking performance. The design of the new speed control law is realized by referring to the acceleration tracking signal constructed by the Levant differentiation. The new speed control law is combined with the self-contained nonlinear state error feedback control law to complete the nonlinear design of the speed loop of the permanent magnet synchronous motor, so that the speed deviation can converge to a small region rapidly, and achieve the purpose of eliminating the steady state error as much as possible. Finally, the simulation and experimental results verify the reasonableness and correctness of the designed nonlinear self-immobilizing speed control strategy for the permanent magnet synchronous motor based on Levant differentiation and observer compensation.