There are shortcomings in the traditional model predictive torque control (MPTC) strategy of a permanent magnet synchronous motor, such as large pulsation, poor anti-interference ability and repeated debugging of weighting factors. Thus an improved robust MPTC strategy based on an active disturbance rejection controller (ADRC) is proposed. First, a speed loop ADRC controller is designed, and a continuous and smooth new fal function is introduced to further improve the control performance of the ADRC. Then, a value function without weight coefficient is designed to optimize system control performance while simplifying the design process and solving the problem of weight factor debugging. Finally, two-step prediction is used to reduce the influence of delay on the control system and improve the control accuracy. Simulation and experimental results show that the proposed improved robust MPTC strategy effectively reduces system pulsation and improves the control performance and parameter robustness of the system.