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An advanced joint optimal reset control (ORC) scheme based on linear principle is proposed for current controls and uncertainties estimations in permanent magnet synchronous motor (PMSM). The joint ORC consists of ORC current controllers and ORC uncertainty observers. It has been proved that the optimal reset law (ORL) of ORC can be obtained by solving algebraic Riccati equations. Based on the ORC theory, the system stability is guaranteed. Owing to the fast convergence of the ORC uncertainty observers, real-time feed-forward compensations of uncertainty terms can be employed in the ORC current control loops to eliminate the uncertainty effects. The joint ORC control scheme can achieve fast dynamic response during the transient process and robustness against uncertainties in the controls of PMSM. Moreover, ORC is as simple and reliable as baseline linear controllers owing to its linear design principle. The proposed ORC is implemented in both simulations and experiments. The performance comparisons and analysis of proportional-integral (PI) controllers, sliding mode controllers (SMC) and the proposed joint ORC are given which show the effectiveness of the joint ORC current control scheme.