In this paper, a tracking differentiator-proportional integral and derivative (TD-PID) control scheme is proposed to control the speed of a surface mount permanent magnet synchronous motor (SPMSM). The TD is used to generate the necessary transient profile for both the reference and the output speed, which are compared with each other to produce the error signals that feed into the PID controller. In addition to the TD unit parameters, the PID controller’s parameters are tuned to achieve the optimum new multi-objective performance index, comprised of the integral of the time absolute error (ITAE), the absolute square of the control energy signal (USQR), and the absolute value of the control energy signal (UABS) and utilizing a genetic algorithm (GA). A nonlinear model of the SPMSM is considered in the design and the performance of the proposed TD-PID scheme was validated by comparing its performance with that of a traditional PI controller in a MATLAB environment. Different case studies were tested to show the effectiveness of the proposed scheme, results including peak overshoot, energy consumption, control signal chatter, and 30% improvement in the OPI, with variable reference speeds, load torque, and parameters uncertainties. Illustrate the proposed scheme's success compared with PI controller.