The design, implementation, and control of rotor topology for an interior permanent magnet synchronous motor (IPMSM) is presented in this paper. The method is an arrangement of buried magnets in a flux concentration structure, combined with Pulse Width Modulation (PWM), which act on the iron core of the rotor, known as the PWM-rotor. The unsatisfied harmonic contents of the flux density in the air-gap are reduced with this technique, and the total harmonics distortion (THD) of the back electromotive force (back-EMF) subsequently decreases. The design was chosen for a motor size of 350 W, 500 rpm, 36 slots stator lamination, and 12-poles. Moreover, a nonlinear control approach based on differential flatness properties is proposed for a vector control of the PMSM drive. Using the flatness property, we propose simple solutions to PMSM drive and stabilization problems. The design controller parameters are autonomous from the operating point; moreover, high dynamics in load torque disturbance rejection is achieved. To validate the proposed method, a hardware system was built, and digital estimation was accomplished with a dSPACE controller. Experimental and simulation results corroborate the excellence of the PMSM design and control scheme.