The speed control of the surface-mounted permanent-magnet synchronous motor (SPMSM) based on Takagi-Sugeno (T-S) fuzzy models is designed and implemented in this paper. In motor drive speed control, proportional-integral controller is generally applied. However, the tracking performance and load regulation capability should be compromised in the designing process of the controller. This study develops a speed controller based on the T-S fuzzy model with good tracking ability and load variation regulation. First, the dynamic model of an SPMSM is demonstrated and the load torque variation is treated as disturbances. Accordingly, the speed control strategy is developed based on the T-S fuzzy model. The defuzzification process and parallel distributed compensation are introduced. The ability of disturbance suppression and the Lyapunov stability of this system are established and analyzed. The controller gains are obtained via the linear matrix inequality toolbox. The speed control and all essential procedures are realized by the microcontroller Renesas RX62T. The tracking performance and load regulation capability are verified by the experimental results.