For the field-oriented control of interior permanent magnetic synchronous motor (IPMSM) drives, it is difficult to tune the gains of a proportional-integral (PI) controller without knowing the system parameters exactly. Besides, system parameters variations will deteriorate the performance, even lead to instability. Therefore, a multi-objective controller design method of IPMSM drives is proposed based on a D-partition method. Discrete time domain (DTD) D-partition method is adopted instead of a continuous time domain (CTD) D-partition method, because CTD analysis ignores the inherent discrete nature of control implementation. Besides, a stability region area is derived as the performance criteria; thus, the effects of system parameters variations on stability can be analyzed. Furthermore, by carefully dealing with the interaction between PI gains and time-domain specifications, frequency-domain specifications, as well as system parameters uncertainties, a desired region is obtained, from which the optimized PI gains can be selected. Comparing with conventional methods, it is more convenient and intuitive to achieve a multi-objective design by using the proposed method. Experimental results verify the effectiveness of the proposed design method.