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In this paper, a fuzzy speed regulator, as well as a fuzzy load torque observer, for a permanent magnet synchronous motor (PMSM) is designed based on the Takagi-Sugeno fuzzy approach. In terms of linear matrix inequalities (LMIs), sufficient conditions for the existence of the regulator and the observer are derived. LMI parameterizations of the gain matrices are given. LMI conditions for the existence of the fuzzy speed regulator and the fuzzy load torque observer guaranteeing various performance criteria are also derived. The proposed load-torque-observer-based fuzzy speed regulator system is implemented by using a TMS320F28335 floating-point digital signal processor, and simulation and experimental results are given to verify that the proposed method can be successfully used to control a PMSM under model parameter and load torque variations.