In this paper, a high-performance torque control scheme of an interior permanent magnet synchronous machine (IPMSM) is introduced, which focuses on both steady state and transient torque dynamics of the IPMSM under the maximum torque per ampere (MTPA) condition. For the proposed control scheme with model-based torque correction, an accurate and efficient torque control with robust torque response can be achieved for the MPTA operation. Global stability and performance of the proposed torque control scheme are theoretically guaranteed. The current limitation of the IPMSM is easily handled without anti-windup and without degrading the torque dynamics or stability even the torque demand is beyond the maximum reachable torque. Implementation issues of the proposed control scheme to the real IPMSM plant with parameter variation are discussed. With the compensation of the linear and nonlinear inverter voltage drop, a robust and accurate torque response for the real-time MTPA operation can be achieved by an adaptive current control and online parameter estimation. The simulation and experimental results validate the safety and high performance of the proposed torque control scheme.