Permanent Magnet Synchronous Motors (PMSM) are very popular solution in electrical drives because of their advantages. They can be thought as an hybrid mix between AC induction motors from a stator point of view and brushless DC motors looking at the rotor. PMSMs offer an high power factor, high efficiency, fast time response and they are not so hard to be controlled. Due to their permanent magnet rotors, they can also have higher torque to weight ratio and no rotor currents. An high performance motor control is characterized by a smooth rotation over the all speed range, fast response on speed varying request and full torque control at zero speed.