within the field of electrical drive systems, there has been increasing popularity in the use of permanent magnetic synchronous machines as an execution unit, and the cooperation with high performance control strategy. industrial engineers and researchers have developed countless applications with pm motors such as wind energy, hybrid vehicle and even in the elevator field. pmsm is a multivariate, nonlinear, time-varying system. its entire operation is influenced by parameter variation, external load disturbance and unmodelled uncertainty. to eliminate such negative impacts and develop better performing pmsm control system, advanced control algorithms are critical. therefore, this thesis forces on developing two different control techniques such as mixed-sensitivity based h∞ controller and port controlled hamilton with dissipation (pchd) controller to handle the uncertainties of the drives. former one establishes the controller in terms of frequency domain, successfully converted ipmsm control problem to a standard h∞ based mixed-sensitivity problem by selecting proper weight functions and solving its correspond ricatti equations. while the latter one realizes the control objective in energy aspects by assigning interconnection and damping matrix for ipmsm system to prove its passivity and ensure global stability. the performances of both controllers for ipmsm drive have been investigated in both simulations and experiments using matlab-simulink and dspace dsp board ds1104 for a 5 hp prototype motor. a direct current (dc) machine is coupled with ipmsm shaft to use as dynamic load. it is found that the performances of both controllers are robust at different operating conditions while pchd exhibits better dynamic performance than that of h∞ control.