A permanent magnet synchronous machine (PMSM) is considered in this paper in the presence of inductance saturation. The cascaded control structure consists of an inner and outer control loop. In the inner loop, a decoupling structure is implemented. Two sliding mode controls (SMCs) are employed to robustify the current decoupling control. The combination of a decoupling controller (DC) and a SMC allows to obtain not only a desired sliding dynamics inside non-interacting controlled invariants but simultaneously a desired reaching phase dynamics that is characterized by the external dynamics of the subspaces. The decoupling approach allows to obtain a straightforward dynamics to be controlled. The presence of saturation, however, requires the identification of the quadrature inductance L_q. Otherwise, due to the huge impact of the current i_q on this inductance, the control performance would decline. An identification of this variable allows to adapt the control structure properly. The identification is realized using an extended Kalman filter (EKF), where the maximum torque per Ampere (MTPA), SMC and DC are adapted using the estimated L_q values. The reference currents for the SMC controllers are determined by an MTPA strategy for the outer control loop. Here, the reference torque is calculated by the combination of geometric control and SMC. A robust control strategy with respect to the parametric and dynamic uncertainties is obtained with the combination of SMC and EKF. Improvements in the performance of the controller are pointed out by dedicated computer simulations.