This paper introduces a nonlinear control scheme based on linearized state space representation of the nonlinear Permanent Magnet Synchronous Motor (PMSM) model and predictive concept to control the PMSM. A comprehensive and detailed description of the design process of a Generalized Predictive Control (GPC) design and implementation with Hildreth's Quadratic Programming for the permanent-magnet synchronous motor are given. Finally, the simulation results show the application superiorities and potential of the generalized predictive control scheme for multi-variable system to the classical anti-windup method in the case of constraint condition.