In this paper, a comprehensive and practical method of implementing speed range extended maximum torque per ampere (MTPA) control for permanent magnet synchronous machine (PMSM) is presented. The inverter-based method of measuring PMSM parameters, including winding resistance and d- and q-axis flux linkages, is introduced. The nonlinearities of the inverter, including voltage amplitude error and voltage phase shift, are identified and compensated, which improves the accuracy of the characterized flux linkage. The extended MTPA current references are obtained by employing nonlinear optimization algorithm, and the results are verified analytically on the current plane. MTPA control is applied on the PMSM experimentally in the entire speed range. Current transition, torque control accuracy, and efficiency performance are measured in the entire torque-speed range.