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Application of Piezo electric based motor is growing rapidly. Researchers are interested to focus on these motors because of their considerable characteristics such as their size and output torques. It is vital to study and research on these motors to model their behaviors and control them accordingly. The aim of this paper is to present a suitable model of an ultrasonic motor, Elliptec, and also an intelligent speed control algorithm. The proposed control algorithm is based on fuzzy inverse model of the motor in an adaptive Internal Model Control (IMC) structure. The model is extracted according to experimental data using Takagi-Sugeno approach. The inverse model of the motor which is realized based on decomposable fuzzy systems is applied as the main part of the control structure. The performance of the proposed control method is demonstrated using simulation results.