Chaotic phenomena in permanent magnet synchronous motors (PMSM) can be observed when parameters in PMSM are in a certain range. In general, chaos will degrade the performance of PMSM or even collapse the system. In order to suppress the chaos in PMSM, cascade adaptive control is utilized in this paper. Faithful model of PMSM is not necessarily required by using adaptive control based on dynamic compensation mechanism. By choosing appropriate controller parameters, chaos will be eliminated and the response speed can be tunable. Numerical simulation results for nominal case and parameter perturbation case are given out to confirm the cascade adaptive control is valid in chaos control of PMSM.