“…Despite dynamic surface control methods [ 7 , 8 , 9 ], that can reduce computing efforts, various nonlinear factors such as time delays, external disturbances, and physical constraints are ubiquitous in real industrial scenarios [ 10 , 11 ], which may diminish the controlling precision of the PMSM systems. Researchers have proposed proportional integral derivative (PID) control [ 12 ], neural network (NN) [ 5 ], time delay control [ 13 , 14 ], disturbance observer (DO) [ 15 , 16 ], and constraint control [ 17 , 18 ] methods for different nonlinearities to reach satisfying control results. Hence, the key point is how to design an effective controller to address the various nonlinear uncertainties such as unknown functions, mismatched disturbance, state constraints, and time delays.…”