To overcome the problem of steady-state error when the conventional passivity control is applied to the system with constant exteral disturbances and constant input disturbance, the integral feedback is designed to eliminate steady-state error due to the disturbance. The Port-controlled Hamiltonian system with dissipation(PCHD) model of permanent-magnet synchronous motor(PMSM) with disturbance is established. The method of interconnection and damping assignment passivity-based control(IDA-PBC) is used, the integral and proportion action is added, and a speed regulation control is designed for PMSM, so that the closed extended system still preserves the PCHD form, while the system outputs can stable at the expectations equilibrium point. Finally, simulation results show the effectiveness of the proposed method.