This paper describes current control system of PMSM for seamless drive between PWM mode, overmodulation and Square-wave mode of inverter based on model predictive control (MPC). Whereas typical current vector controller determines the ratio of voltage, our proposed current controller based on MPC selects directly the voltage vector sequence of voltage source inverter by prediction of the current behavior. It can be realized not only widening the drive range but also improvement of transient current response by utilization of aggressive square-wave mode in any operating point by selecting the sequence which has overmoduration and Square-wave mode. In this paper, we discuss implementation of proposed MPC and show the experimental results.