This paper describes a simple sensorless control scheme for permanent magnet synchronous motors based on the reduced order observer. By introducing the new control inputs, we realize both the decoupling and the linearization of the nonlinear electrical equations. This allows us to construct the reduced order observer for estimating the rotor speed and position. Owing to the linearization of the motor model, we can fix optimum gains of the observer under any operating condition. The validity of the proposed control scheme is confirmed by experiments as embedded code in a DSP-TMS320C32. The experimental results show high dynamic performance of the proposed control scheme.