In industrial automation systems, motors are crucial in driving mechanisms for speed or positioning control tasks. The widespread adoption of AC motors has been driven by their advantages such as low cost, solid structure, and easy maintenance. AC motors have gradually supplanted traditional DC motors with brushes and commutators and have become the predominant choice for motor and drive applications in industrial settings. In this paper, we introduce a hybrid control scheme that combines a sliding mode controller (SMC) and time delay estimation to enhance the robustness of speed control for permanent magnet synchronous motors (PMSM). Following the field-oriented principle, a flux SMC is initially designed to meet stator flux control requirements promptly. Subsequently, a speed controller is introduced, employing SMC with time delay estimation to address challenges such as torque and flux ripples, ultimately enhancing the overall robustness of the control system. Simulation results validate the effectiveness of the proposed control scheme under conditions of load disturbance and parameter uncertainties. Future work will involve implementing the proposed approach on digital signal processors to validate its performance and practicality in real-world applications.