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This paper proposes a suppression control method of the motor frame vibration caused by the torque ripple of PMSM. The method utilizes the feedforward compensation signals by the repetitive control and the Fourier series expansion using a vibration signal obtained by an acceleration sensor which is attached to the motor frame. In order to realize on-line generation of the feedforward compensation signals to reduce the vibration, a novel parameter auto-tuning method for the repetitive control is proposed. The method enables to shorten time to suppress the torque ripple since simultaneous vibration suppression control can be achieved. The effectiveness of the proposed method is illustrated through some experimental results.