<p>Designing an effective controller able to handle model uncertainties is the most fundamental task of permanent magnet synchronous motor (PMSM) control. Of the broad range of robust controllers used for PMSM speed control, the sliding mode controller (SMC) is perhaps the most prevalent. However, one of the biggest issues relating to such controllers is the problem of chattering in their output. This issue is solved in this paper by proposing a hybrid sliding controller. We introduce a new reaching law based on hyperbolic functions, which reduces the chattering phenomenon by a great margin. Rather than using the sign function, which is the primary cause of chattering, we utilize a hyperbolic function while designing the controller. This controller design is derived using Lyapunov theory. After designing the new controller, we determine the closed-loop system stability based on a Lyapunov function. To confirm the efficacy of the recommended approach, we conduct some practical experiments on a PMSM. The experimental results indicate that our redesigned controller is much better than the traditional sliding controller.</p>