Control of permanent magnetic motors is not an easy task because of the presence of unknown parameters. Techniques are needed in order to achieve a suitable controlled dynamics identification. The proposed strategy uses the geometric approach to realised a decoupling of the system. The estimation of the parameters of a Permanent Magnet Synchronous Motor (PMSM) is simplified through a decoupling. The decoupling is realised using a feedback controller combined with a feedforward one. The feedforward controller is conceived through an input partition matrix. This technique can be applied to a large variety of motors or to any system for which the decoupling conditions are satisfied. Simulation and measured results are reported to validate the proposed strategy.