When finite control set model predictive control (FCS-MPC) is applied in the flux-weakening control of permanent magnet synchronous machine (PMSM) , the system suffers from poor parameter robustness. To solve this problem, a proportional-integral-derivative (PID) -type cost function of FCS-MPC in the flux-weakening control of PMSM is proposed. In the proposed strategy, the PID-type cost function consists of three components: the proportional error cost of tracking the current, the integral error cost of weakening the steady-state control error, and the differential error cost of reducing the ripple error. The prediction model is established by the mathematical model of PMSM, and the implementation process of FCS-MPC with PID-type cost function in the flux-weakening control of PMSM is described in detail. Meanwhile, the delay compensation strategy is applied to the system to ensure the accuracy of the prediction. The simulation results prove that when the parameters of the PMSM are mismatched in the flux-weakening control, the FCS-MPC base on the PID-type cost function can not only improve the robustness of the control system to motor parameters and load torque perturbations, but also retain the good dynamic performance of FCS-MPC.