This article introduces a dynamic impedance-aligned phase-angle compensation (DIA-PAC) for the targeted harmonic mitigation (PACTHM) control method, which is designed to enhance the performance of interior permanent-magnet synchronous motor (IPMSM) drives by effectively suppressing critical harmonics, including the 5th, 7th, 11th, and 13th orders. Unlike triplen harmonics, which cancel out in balanced systems, harmonics significantly degrade motor performance, leading to increased torque ripple, thermal stress, and reduced efficiency. The proposed approach incorporates dynamic PAC blocks that counteract load-impedance-angle disturbances in real time, ensuring reliable harmonic mitigation under varying operating conditions. The methodology also leverages a multiple dq-axis framework to selectively eliminate harmonics, an expansion of standard field-oriented control (FOC) that preserves the baseline loop and thus makes the method scalable in the number of targeted harmonics. Experimental results on a 22-kW IPMSM prototype with a voltage-source-inverter (VSI) setup show substantial reductions in total harmonic distortion (THD) and torque ripple. Using a rapid-control-prototyping (RCP) testbed, the findings show that the PACTHM method achieves superior harmonic suppression and improved system power quality, making it a practical solution for industrial PMSM applications.