In the paper, a method for the optimal (according to the quadratic performance index) control of a positioning drive with a permanentmagnet synchronous motor (PMSM) is developed. The proposed control method eliminates or reduces the influence of disturbances on the dynamics of the system. It is shown that the suggested methods are useful not only in the case of a linear system but also in a system with current and speed limitations. For this case, the control method is examined through computer simulation, and then tested in a real microprocessor-controlled drive system consisting of a permanently excited synchronous motor. The motor is fed by a transistor inverter with sinusoidal output currents. The results of this research show the utility of this method. In addition, an exact correlation between the theoretical and experimental results is shown.