Background <p>Permanent magnet stepper motor (PMSM) represent a category of electromechanical actuators essential in the fields of industrial automation, robotics and embedded systems, where positioning accuracy is paramount.</p> Objective <p>This paper examines the theoretical study, microcontroller implementation, and control of complex behaviors in a permanent magnet stepper motor with load torque (PMSMLT). </p> Methods <p>The equations describing the system are derived from direct quadrature transformation (DQT). Linear stability analysis is performed and the stability of the steady states are characterized by the Routh-Hurwitz criteria. The fourth order Runge-Kutta algorithm is employed to integrate the resulting differential system for the PMSMLT. The microcontroller experimental scheme employ the ATMEGA2560 microprocessor.</p> Results <p>Linear stability analysis revealed that while the unloaded PMSM has infinitely many stationary states with neutral stability, the PMSMLT lacks stationary states. The PMSMLT exhibits various dynamical characteristics, including descending period-one sinusoidal signal, period-one sinusoidal signal, period-one sharp peak signal, periodic spiking oscillations, and different forms of periodic bursting oscillations. A single controller is proposed that control and stabilize the PMSMLT to one of its steady states.</p> Conclusion <p>The microcontroller implementation scheme validates the dynamical characteristics observed in numerical simulations of the PMSMLT.</p>