Current regulation with both stability and efficiency is extremely important for PMSM control. In today's increasingly demanding automation, how to achieve automatic parameter tuning is increasingly becoming the first demand of users. Considering the engineering practice, this paper analyzes the disadvantages of traditional pole-zero cancellation based on the establishment of a system model including system delay. In view of the fact that the stability and dynamic performance of the system must be considered at the same time, a method of setting the system parameters by setting the phase margin and amplitude margin of the system is proposed. The user can set the phase margin and amplitude margin from the two dimensions of rapidity and stability, and the setting conditions of the limit bandwidth are given. The proposed strategy is compared with the two root locus strategies. Simulation and experiment verify the effectiveness of the proposed strategy.