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This paper proposes a high dynamics torque control for surface mounted permanent magnet synchronous motor (SM-PMSM), based on a discrete-time model. To satisfy our goal, the so-called "Discrete-Time Field Oriented Control (DTFOC)" is used. One of the most important difficulties is to deal with the voltage or/and current limitation constraints. Therefore, by taking into account a priori these constraints, the proposed controller results in an optimal torque dynamics over full speed operation range. Real-time simulation and experimental results are presented to highlight the performances of such control algorithm.