In the particular embodiments described in the specification, a permanent magnet synchronous machine includes a stator with a plurality of stator coils and a rotor within the stator having a plurality of permanent magnets disposed around its periphery, and position detectors for detecting the horizontal, vertical and axial positions of the rotor within the stator. A magnetic bearing control arrangement generates control signals based on deviations of the rotor position from a desired position and supplies corrective signals to the stator coils and a motor control arrangement detects the angular position and speed of the rotor within the stator and supplies signals to the stator coils simultaneously with the magnetic bearing control signals to control the angular position and rotational speed of the rotor.