In this paper, a new approach for extracting the angular position estimation error (APEE) of an Interior Permanent Magnet Synchronous Machine (IPMSM) is proposed. APEE is obtained from the measurable currents in the stationary reference frame (α,β) without the use of high-frequency injection or Back-electromotive force (BEMF). Moreover, using the APEE and, from the mechanical system of the IPMSM, a High Order Sliding Mode Observer (HOSMO) is used to estimate the angular position, speed and disturbance of the IPMSM. An analysis of convergence of the proposed observer is established using a Lyapunov approach. Furthermore, experimental results and a comparative study are presented to illustrate the performance of the proposed approach.