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In this paper, a new maximum torque per ampere control is proposed for an interior permanent magnet synchronous motor (IPMSM) drive to achieve a linear control law with respect to the input in the outer loop. Not only the reluctance torque can be fully exploited but also the magnetic saturation effect is also considered. The theoretical basis of the proposed control is detailed and a prototype is also implemented with a fully digital controller by using a fixed point DSP TMS320F240 to simplify the hardware circuits. Some experimental results are also provided to verify the validity of the proposed control strategy. It is seen that the proposed control can indeed provide improved performances as compared with that of the conventional linear torque control.