Aiming at the issue that chaotic attractor exists in Permanent Magnet Synchronous Motor (PMSM) and chaotic synchronous control of PMSM cannot be realized except on the cycle of the equilibrium point, a kind of zero error system algorithm based on automatic control theory and finite time control principle was proposed. Firstly, the error system was established by mathematical model of PMSM and a mathematical formula between each state variable and its expected value in PMSM. Secondly, synchronous controller and correction rate were designed for the error system model and the conclusion that the error system could quickly converge to zero in finite time was proved by using Lyapunov's stability criterion. Finally, interference was imposed on the error system and the robustness of the algorithm was analyzed. The theoretical analysis and simulation results show that the proposed algorithm can maitain in zero balance after reaching the zero point of the system, which can effectively restrain the chaotic attractor and adjust the input and output of PMSM flexibly; and the PMSM system has good robustness to the uncertainty parameter and external disturbance while ensuring the normal operation of PMSM.