Control performances, average switching frequency and parameter robustness of the direct torque control (DTC) and model predictive torque control (MPTC) based on stator flux coordinate system for permanent magnet synchronous motor (PMSM) are compared. It is shown that DTC has simpler structure and lower switching frequency. The ripples of flux and torque of DTC are higher than MPTC. MPTC has better control performances, but poor realtime performance. Poor parameter robustness and variable switching frequency are common drawbacks for DTC and MPTC. To overcome the drawbacks, an MPTC strategy is proposed, which can fix switching times at 2 in each sampling period with given candidate switching states. Simulation results show that the switching frequency of the inverter is fixed, which is 1/3 of the sampling frequency, and the number of candidate switching states is decreased to 3.