Continuous control set predictive speed control (CCS-PSC) predicts and optimizes the speed trajectory of a drive system. The prediction horizon is commonly short to avoid a high computational burden. However, stability issues may arise with the short prediction horizon. In this article, we propose an efficient strategy that enables CCS-PSC with a long prediction horizon, where Laguerre functions are adopted. Differ from existing methods, the equivalent speed tracking error is a controlled variable, which consists of the speed tracking error and its derivative. In this manner, speed overshoot can be eliminated. The dynamics of the equivalent speed tracking error and the direct-axis current are naturally decoupled, where the linearization of the surface-mounted permanent magnet synchronous motor (SPMSM) model is not required. The performance of the proposed strategy is evaluated comprehensively. The simulation and experimental results show that the proposed strategy improves the system stability and the steady-state performance, while maintaining high dynamic performance.