To satisfy the high performance control demand for speed tracking， a nonlinear predictive controller for a permanent magnetic synchronous motor (PMSM) is designed. The load torque is also considered as the unknown perturbation and a disturbance observer is designed to get the estimated value of load torque, thus improving the robustness. Finally, simulation results show that the quick and accurate speed tracking is realized as well as the stronger robustness against load torque perturbations.