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A cascade proportional integral control method with back-electro motive force compensation has been widely used for permanent magnet synchronous motors. In the permanent magnet synchronous motor control, it is important to accurately know the back-electro motive force constant for torque generation as well as back-electro motive force compensation. In this study, a real-time back-electro motive force constant estimation algorithm is developed to improve the velocity tracking control performance. The proposed method consists of a proportional integral controller and a back-electro motive force constant estimator. The proportional integral controller is designed to reduce the velocity tracking error. The back-electro motive force constant estimator is designed to estimate the back-electro motive force constant. It was verified that the estimated back-electro motive force constant converges to the actual back-electro motive force constant. The estimated back-electro motive force constant is applied to the cascade proportional integral controller. To verify the effectiveness of the proposed method, the performance of the proposed method is validated experimentally.