This paper presents advanced torque and current control techniques for Permanent Magnet Synchronous Motors (PMSMs) with a real-time simulator which has a nonlinear motor model. This model is called a 'behavior motor model'and is developed based on finite element analysis results to take into account nonlinear characteristics including spatial harmonics and magnetic saturation. The real-time simulator is implemented within a circuit simulator coupling the behavior motor model with switching circuits in real time and it can be applied to torque and current control as an advanced controller. In this paper, the torque and current control of a PMSM with the proposed system is presented. Effectiveness of this technique is verified by performing some simulations and experiments.