<p>The advantages offered in critical drive applications by PMSMs require the presence of a robust speed control mechanism which is a tall request. Model Predictive Control (MPC), being one of the recognized efficient speed regulation techniques in PMSMs, has two main problems to contend with: improper resolution of the inherent optimization problem at each instant and disturbance sensitivity that hinders its operation. This paper proposes a new recursive feasible L2-Gain MPC especially in PMSM drive drives with ensured solution at each step as well as disturbance rejection. The approach includes recursive feasibility that ensures a solution at all operating points with the enforcement of the L2-Gain condition as a disturbance rejection method. The proposed approach was experimentally validated through extensive experimentation under steady-state, transient, and distorting conditions. Compared to conventional MPC, the new approach performed better in speed tracking with increased speed, reducing the steady-state speed error from 6 RPM to zero and improving convergence time from 0.4 seconds to less than 0.1 seconds. During transient operation, the speed tracking error was reduced from 8 RPM to 0.1 RPM, and hybrid reference tracking provided an error reduction from 15 RPM to 0.1 RPM. Further, the proposed method successfully sustained accurate tracking even with high-amplitude disturbances during disturbance rejection tests without bias, whereas conventional MPC manifested 10 RPM bias. Compared with H-infinity MPC, further confirmation was obtained about the efficiency of the proposed scheme and obtained error reduction from 7 RPM to less than 1 RPM. These results confirm that the proposed recursive feasible L2-Gain MPC significantly enhances PMSM speed control by ensuring robustness, stability, and high tracking accuracy, hence making it an appropriate solution for industrial and high-performance applications.</p>