Abstract: Aiming at the problems of the reduced control performance of PMSM model predictive control under strong disturbance and the existence of static errors in the non-incremental predictive model, an incremental single-loop model predictive control based on sliding mode disturbance observer is studied in this paper. First, by using the mathematical model of the PMSM, through the model predictive control theory, the single-loop incremental model predictive controller was designed. Then, a current constraint method based on the deadbeat principle for the controller was designed. Finally, the sliding mode disturbance observer was designed to observe the load disturbance of the system, which was used to the feed-forward compensation control. And the stability of the system was proved. Simulation and experimental results show that the proposed control method has good transient performances and strong robustness. In addition, compared with the traditional PI and non-incremental model predictive control methods, the method has the advantages of small overshoot and strong anti-interference ability.