This paper presents a nonlinear adaptive torque control method for an interior permanent magnet synchronous motor (IPMSM) with dynamic copper loss minimization based on control Lyapunov function (CLF). A nonlinear torque control for IPMSM with dynamic copper loss minimization based on CLF has been proposed. However, the method does not consider parameter variation of IPMSM. Then, we propose a torque control method for IPMSM considering parameter variation and copper loss minimization. Finally, the effectiveness of the proposed method is demonstrated by computer simulation and experiments.