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The installation of high precision mechanical sensor will increases the volume weight and cost of permanent magnet synchronous motor (PMSM) and reduces the reliability of the system. Therefore, the technology of sensorless control is introduced the field of motor control. Based on the theory of extended state observer, a nonlinear extended state observer (NESO) is proposed to observe the back-EMF of PMSM. The information of rotor speed and position can be calculated by estimating the back-EMF. Then, the convergence of observer is analyzed by partition analysis and Lyapunov theory. Finally, simulation results prove that NESO can achieve good observing performance of the system speed and position. Moreover, the NESO has a better robustness.