This paper presents a novel auto-tuning proportional derivative (PD) controller based on fuzzy logic for significant reduction of selective current harmonics in interior permanent magnet synchronous motor (IPMSM) drive systems under silicon carbide (SiC) inverter excitation, where the ultimate goal is to mitigate the IPMSM copper loss and SiC inverter loss in the motor drive systems for electric vehicles (EVs) and mobile robots. In the proposed control scheme, a fuzzy logic controller (FLC) is newly designed to automatically adjust the coefficients of the PD controller according to the operating conditions of the motor system. With the unique design of two inputs and related membership functions based on absolute values in the FLC, the number of its fuzzy association rules is remarkably decreased in order to achieve good control performance with a less computational burden in real-time implementation. The measured results obtained with an experimental SiC-based IPMSM drive system under a high carrier frequency of 200 kHz in load condition are shown and discussed to validate the feasibility and effectiveness of the introduced PD-fuzzy control. Furthermore, this model-free PD-fuzzy control scheme can be appropriately applied for other motor drives utilized in various fields.