This paper uses parallel control to investigate the problem of tracking control of permanent magnet synchronous motors (PMSMs). First, an augmented PMSM system is designed to introduce the control input into the feedback system, and then achieve parallel control. Second, based on the backstepping control technique, the detailed steps of the derivation of the parallel controller are provided. The stability analysis shows that the tracking error of the PMSM system asymptotically converges to zero. Finally, the proposed parallel controller is validated in simulations, where the time-invariant reference signal and time-varying reference signal are considered, showing that the proposed parallel controller effectively enables the PMSM to track different reference signals.