This work proposes a trajectory-tracking control scheme based on an improved linear extended state observer (iLESO) for application in permanent magnet synchronous motors (PMSMs). Firstly, an iLESO is introduced by incorporating the error signal of PMSM angular acceleration into the design of LESO. A speed controller using an improved linear active disturbance rejection control (iLADRC) is designed to suppress excessive speed fluctuations and enhance the system's disturbance rejection performance. Finally, simulations were conducted to compare the performance of the traditional LADRC and the proposed iLADRC. The results demonstrate that this method not only retains the advantages of traditional methods but also effectively suppresses speed fluctuations and improves the system's anti-interference capability.