The fault tolerant controller (FTC) issue is one of the most important subjects in the system theory and control engineering which has many practical and industrial applications. In This paper, a new FTC has been designed in order to detect and compensate the sensors faults of permanent magnet synchronous motor (PMSM). To achieve this goal, sliding mode controller (SMC) and PMSM vector control have been used. In the faulty conditions, in order to achieve control purposes, two sliding mode observers (SMO) estimate the speed and currents of motor. The observers create virtual sensors for the feedback control. If sensors face with a condition that cause any fault, the FTC detects the fault and the virtual sensors are immediately used for sensorless control of motor. The stability of the closed-loop system has been investigated by the Lyapunov stability theory. Simulation results confirm good performance of the proposed FTC for PMSM.