In this paper, a comparison between the Field-Oriented Control (FOC) scheme and the Generalized Proportional Integral (GPI) controller for a permanent magnet synchronous motor (PMSM) is presented. The GPI controller scheme consists in two stages, the first one is a speed control loop which gives the reference control signals, the second stage is a current controller which generates finally the voltage signals. Experimental results show the characteristics of both control techniques.