Though many PMSMs (Permanent Magnet Synchronous Motor) control approach have already been published, little endeavors have been invested in the study of speed tacking control with frequency or amplitude dependence. The use of NDI (Nonlinear Dynamic Inversion) tracking control in versus amplitude and frequency dependence is the major focus of this paper. The proposed tracking control demonstrates that NDI control presents the ability to track the desired output with high precision. PMSM outputs are characterized at different amplitude and frequency. The speed and the direct current versus amplitude and frequency are successfully extracted. A mathematical (d-q) of the permanent magnet synchronous motor model is also presented. A comparative study between desired data and simulation results is conducted. Important to note, the proposed model and the simulation results reflect a successful agreement as far as a amplitude and frequency dependence is concerned. A new validity approach, namely "Validity Abacus" is proposed and discussed.