In recent decades, motor imagery (MI) based brain-computer interface (BCI) is served as a control system or rehabilitation tool for motor disabled people. But it has limited applications because of its lower classification performance (classification accuracy, Cohen's kappa coefficient and etc.). The performance depends on the feature extraction techniques and extraction of relevant features from the brain is challenging task. The existing techniques have low classification performance and are computationally inefficient. This paper introduces phase space reconstruction (PSR) to detect various MI activities and improve the performance of the system. First, raw signals were decomposed into multiple frequency sub-bands using filter bank technique. Second, PSR was applied to each sub-band and dynamical behavior of the brain activities has been analyzed. The optimal parameters (time delay and embedding dimension) of PSR were calculated by average mutual information (AMI) and false nearest neighbors (FNN) methods. The time delay and embedding dimension extracted significant features related to MI activities. The significant features were fed into multi-class support vector machine (SVM) and performance of the classifier was evaluated. The performance of the system is based on classification accuracy (%CA) and Cohen's kappa coefficient (K). The proposed algorithm and classifier were tested on BCI competition-2005, MI dataset-III-a. The results show that the proposed technique increases the classification accuracy by 3.7% and achieved higher performance (%CA = 89.20% and K= 0.85). © 2019 IEEE.