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A novel PID controller design method based on Improved Genetic Algorithm is proposed in the paper for PMSM Servo system. By using real-coded chromosomes scheme, and strategies of protecting the best individual, accepting immigrations, as well as employing adaptive crossover and mutation operators, meanwhile, choose output-overshoot, rise time and steady error of the system as the fitness function to weight the system performance. The global searching ability and the convergence speed of the IGA are significantly improved, and the performance of the PID controller is optimized to satisfaction. Experiment results show that the novel PID controller design method can achieve a faster Motor response, better traceability and markedly improved control results.