In order to achieve better transient performance for the permanent magnet synchronous motor (PMSM), a strategy of combined active disturbance rejection control (ADRC) based on a second-order extended state observer (ESO) and a switching-type state error feedback control law (SEF) is proposed. After incorporating the speed error into the computation of the second-order ESO, the switching-type SEF modulates the output, enabling the control system to obtain a larger gain under various disturbance conditions. This reduces the speed error of the PMSM while ensuring rapid convergence, thereby achieving excellent transient performance and robustness. Through simulation comparisons between the second-order combined ADRC, the first-order ADRC, and the sliding mode control (SMC), the results show that when the PMSM is subjected to a 5 N?m load disturbance after operating at a steady load of 1 N?m at 1500 rpm, the speed fluctuation of the second-order combined ADRC is 0.9%, which is 3.3% and 1.8% lower than those of the first-order ADRC and SMC, respectively. The second-order combined ADRC significantly reduces the speed fluctuation of the PMSM, the results show that the algorithm is feasible.