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This paper presents external load disturbance compensation that used to deadbeat load torque observer and regulation of the compensation gain by parameter estimator. The position response of permanent magnet synchronous motor (PMSM) follows that of the nominal plant. The load torque compensation method is composed of a deadbeat observer that is well-known method. However it has disadvantage such as a noise amplification effect. To reduce of the effect, the post-filter, which is implemented by MA process, is proposed. The parameter compensator with recursive least square method (RLSM) parameter estimator is suggested to push real system to nomial operating point of the motor system. The proposed RLSM estimator is combined with a high performance torque observer to resolve the problems. As a result, the proposed control system becomes a robust and precise system against the load torque and the parameter variation. A stability and usefulness, through the verified computer simulation and experiment, are shown in this paper.