A decoupling control approach based on dynamic inverse system theory has been developed for the bearingless permanent magnet synchronous motor (BPMSM), which is a multi-variable, nonlinear and strong-coupled system. Firstly, inverse system theory is briefly introduced. Secondly, the principle of suspension forces is expounded, and the state equations of torque force and radial suspension forces are set up. Then feasibility of decoupling control based on dynamic inversion theory for BPMSM is discussed in detail, and the dynamic decoupling control arithmetic based on inverse system is deduced. Finally, the simulation results have showed that this kind of control strategy can realize dynamic decoupling control between torque force and radial suspension forces, and the control system has fine dynamic and static performance.