The paper presents a new sensorless approach for permanent magnet synchronous motor (PMSM). Current sensors are assumed available, but position and velocity sensors are not. Based on the electrical equations, sliding mode observers are designed to estimate the back-EMF of the motor. These estimations are used to reconstruct the position and the velocity. From this estimation, a robust sliding mode control is developed which ensures the position tracking of the motor. A new reference frame is used that presents advantages similar to the standard (d-q) frame, but without the need for a position sensor. The efficiency of the algorithm is shown through experimental results. The approach is potentially applicable to other types of synchronous motors as well.