Control strategies developed for Permanent Magnet synchronous motor do not explicitly consider the dynamics of the system. Considering a dynamic model of the PM machine allows powerful control-theoretic techniques such as, linearization to be applied to the system. Existing feedback linearization techniques suffer from the limitations of singularity. In this paper, input and state transformations are derived for a 4 dimensional PM machine model for linearization of PMSM model. The proposed technique does not introduce singularities in the system. A Simulink model is developed for the IPM motor. Tuning transformations have been derived for the given machine by comparing the output of linearized machine with that of the normal form. The simulation including tuning transformation is also done and better results are obtained for linearization.