This paper proposes a torque control method of permanent magnet synchronous motor, which has small torque ripple. The proposed control method is using the finite control set-model predictive control(FCS-MPC) strategy. An optimal input voltage vector minimizing a cost function is chosen among 6 passible active input voltage vectors following the FCS-MPC strategy. Then, a modulation factor for the optimal input voltage vector is computed to minimize the torque ripple. Thus, the proposed control method yields fast torque response and small torque ripple. The efficacy of the proposed method was verified through simulation and experiment.