A nonlinear predictive control (NPC) scheme in a cascaded structure for a permanent magnet synchronous motor drive is proposed. Taylor series expansion is used to predict the system response over a finite horizon. As NPC cannot remove completely the steady-state error in the presence of mismatched parameters and external perturbation, a disturbance observer is used to estimate the offset caused by parametric uncertainties and the load torque variation. In addition, input constraints (restrictions on the magnitude) are considered in the synthesis of the disturbance observer, resulting in an equivalent cascaded proportional integral action with an antiwindup compensator. The validity of the proposed controller was tested via simulation and experiment. Excellent results were obtained with respect to the speed trajectory tracking, stability, and disturbance rejection.