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This paper deals with the chaos phenomenon of permanent magnet synchronous motor (PMSM). The Takagl-Sugeno (T-S) fuzzy model of PMSM chaos system is built. Based on the fuzzy Lyapunov function approach, a robust optimal guaranteed cost controller is designed in the form of linear matrix inequality (LMI). Thus the chaos of PMSM with parametric uncertainties is eliminated. The simulation result shows that the robust control system adopting the designed method has good performance and robust capability. And the efficiency of fuzzy Lyapunov stability theory is also illustrated.