Input-state linearization method is used to control chaos phenomenon of PMSM system. Controllable and involutive conditions of Input-state linearization is used to judge the system. When the conditions are met, the nonlinear system model is transformed into a linear one by Lie derivative and Lie brac- ket operation in differential geometry. Then the controller of linear system is designed that made three states of the system steadily converged to zero, and then eliminated the chaos. The simulations show that the method is effective.