A motion control problem for electric drives and servo-systems actuated by permanent-magnet synchronous motors is studied. Using a complete nonlinear model in machine variables and applying the offered nonlinear mapping control framework, an innovative synthesis procedure is introduced to design the robust bounded controllers to ensure precise tracking and disturbance rejection. These control algorithms are different compare to existing structures, and the synthesized new class of nonlinear controllers maps the error vector and state variables. Compared with commonly used algorithms, the dynamic performance is improved and robustness is guaranteed due to nonlinear feedback. The admissibility concept is employed because control bounds are imposed. It is shown that the robust tracking is ensured, stability and disturbance attenuation are guaranteed in the specified state-output and state-error sets for admissible disturbances, reference inputs, and parameter variations. Experimental verification of the developed control framework and digital implementation of the synthesized innovative controllers have a significant merit. This paper reports application features. The thorough researched innovative concept in motion control of permanent-magnet synchronous motors together with commercially available advanced hardware are applied, and experiments are performed to validate the results.