This paper proposes a robust H∞ fuzzy control of electric vehicle based on Permanent Magnet Synchronous Motor (PMSM) in order to guarantee speed reference tracking performance and deal with large load torque variation. First, a model is elaborated based on vehicle dynamics. Then, a Takagi-Sugeno fuzzy approach is employed to deal with the nonlinearities of the model of PMSG in the synchronous d-q frame. Second, in order to deal with large load torque variation, considered as disturbance, and to track the reference speed, proportional integral (PI) Fuzzy controller is designed. Lyapunov function, H∞ approach and Linear Matrix Inequality (LMI) tool are used to calculate the gains of the developed controller. Finally, simulations are proposed to validate the effectiveness of the suggested control strategy.