Currently，small-and medium-power Permanent Magnet Synchronous Motor(PMSM)are confronted with issues such as poor versatility，limited scalability，low cost-effectiveness，and insufficient precision. To address these challenges，a low-power permanent magnet synchronous motor control system based on the STM32F103C6T6 is proposed in this paper. Thissystem is applicable to various driving scenarios of low-power permanent magnet synchronous motors and supports both PMSMmotors with sensors and BLDC motors equipped with Hall sensors. During the system's computational process，the 32-bit fixed-point arithmetic mathematical library IQmath is introduced， significantly enhancing the system's computational speed. Moreover，the feasibility of the algorithm is verified through the integration of an inverted pendulum system，with a combination of theoretical validation and physical testing being employed. This system is characterized by significant advantages，including high precision，low cost，strong scalability，and broad applicability.