This paper develops robust 2-DOF current and torque control schemes for a permanent magnet synchronous motor (PMSM) drive with satellite reaction wheel load. A DSP-based experimental PMSM-driven reaction wheel system is established, and the key motor parameters are estimated for realizing the proposed control schemes. In the proposed current control schemes, the traditional 2-DOF controller is augmented with an internal model feedback resonant controller or a robust tracking error cancellation controller (RECC). Comparative performance and error analyses of these two proposed control schemes are given. Accordingly, an improved robust 2-DOF current control scheme combining the resonant controller and the RECC is further proposed. The resonant controller enhances the transient and steady-state tracking of the sinusoidal current, simultaneously rejecting the back electromotive force. A similar robust tracking control for the observed torque can be designed, which exhibits quick transient response. Effectiveness of the proposed controls and the driving performance of the whole reaction wheel are evaluated experimentally.