With the motor speed changes, the resonant frequency of the repetitive control (RC) deviates from the frequency of the current harmonic, and the harmonic suppression ability of the system is reduced. Aiming at this problem, combing the mathematical model of permanent magnet synchronous motor (PMSM) current harmonic and the causes of harmonic, the repetitive control principle is introduced, and on the basis of the conventional repetitive control, a Fal function is introduced, a compound control strategy based on Fal function is built. Through these measures, traditional repetitive control in the process of steady state has a better effect. At the same time, the internal mode of the traditional repetitive control is improved and embedded into the current loop to further improve the harmonic suppression ability of the composite controller. Finally, a 5.5 kW PMSM is taken as the research object for simulation analysis and experimental verification. The simulation and experimental results show the effectiveness of the proposed method.