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This paper proposes a new decoupling control for permanent magnet synchronous motor (PMSM) in which both the support vector machine generalized inverse (SVMGI) and the internal model control (IMC) are employed. By introducing the SVMGI systems into the original PMSM system, a new pseudo-linear system is developed. Moreover, based on the characteristics of the pseudo-linear system, the IMC theory is utilized to design extra controllers to improve the robustness of the whole system. Consequently, the proposed control strategy incorporates the merits of both the SVMGI and the IMC. The utility of the proposed control strategy is demonstrated by both the simulation and the experiments at various operations. The results validate successful decoupling of the original system, strong robustness to load disturbance and good dynamic performance.