The permanent-magnet synchronous motor (PMSM) is a simple Synchronous motor. It has gained a wide acceptance in motion control applications due to its high performance such as compact structure, high air-gap flux density, high power density, high torque to inertia ratio, and high efficiency. Due to the existence of nonlinearities, uncertainties, and disturbances, conventional linear control methods, including the proportional-integral (PI) control method, cannot guarantee a sufficiently high performance for the PMSM servo system. To enhance the control performance an intelligent controller is proposed. The servo specifications and design variables are to be analyzed to formulate a controller optimization problem. According to the objective functions and design specifications, the servo control parameter has to be properly tuned toward their optimal values by using the proposed optimization techniques. Because of the nonlinear property of the digital servo drives, the tuned servo control parameters may be only optimal for a particular operating point, therefore, once the optimum design is achieved, the proposed intelligent controller can perform as an intelligent tuner for on-line gain adaptation under different loading conditions.