In this paper a speed and current control for Permanent Magnet Synchronous Motors (PMSMs) with incremental encoder sensor has been designed. A Model Predictive Control (MPC) technique for PMSM has been explored, considering an off-line explicit MPC solution resulting in a PieceWise Affine (PWA) controller formulation. Reported numerical results show that the proposed controller enhances the overall performances of common cascaded Field Oriented Control (FOC) in different scenarios. The proposed solution has been experimentally tested on a commercial PMSM equipped with a control system based on Digital Signal Processor (DSP).