The PMSM position sensor using two rectangular hall sensors can restrictively acquire the 90[$^{circ}$] position information of rotor according to electrical angle. Thus, the control method using this position sensor cannot react properly to a rapid load torque change. On the other hand, even though a sensorless method has the advantage of acquiring instantaneous rotor position information, the accuracy of position sensor can be determined by the gain value of estimator. This paper suggests a robust speed control method on torque fluctuation condition, which combines low cost two rectangular hall sensors and sensorless control method.