The permanent magnet synchronous motor （PMSMs） may have chaotic behaviors under certain working conditions, especially for uncertain values of parameters，which threatens its secure and stable operation. Hence，it is important to study methods of controlling or suppressing chaos in PMSMs. In this paper，the Takagi-Sugeno fuzzy control model for PMSMs with parameter uncertainties is established via the Takagi-Sugen modeling method. Based on the new model，the control conditions of asymptotical stability for PMSMs with parameter uncertainties have been derived by Lyapunov method and matrix analysis. An illustrative example is also given to show the effectiveness of our results. Compared with the curently available results，the obtained results exhibit some advantage.