The influence of magnetic saturation on maximum torque to current controlled interior permanent magnet synchronous motor drives is discussed in this paper. A maximum torque to current condition that takes into account magnetic saturation and determines the optimal d-axis current is derived. For the implementation of the proposed controller, an experimental procedure is used to adjust its parameters, therefore, the knowledge of the exact model is not required. Selected experimental results are presented to verify the theoretical considerations and to confirm the high performance of the suggested controller.