This paper proposes a robust control strategy for electric vehicles, equipped with a permanent magnet synchronous motor (PMSM), which aims to stabilize and guarantee the optimal tracking of the reference speed. First, a model is formulated from the motor vehicle dynamics in the synchronous d-q frame. Then, Takagi-Sugeno (TS) fuzzy model is used to deal with the nonlinearities of this model. Second, a proportional integral (PI) fuzzy controller is proposed to track the reference speed. To reduce conservatism in the conditions obtained, the Line Integral Lyapunov function (LILF) is used. The \(H_{\infty}\) approach is also employed to deal with large load torque variations considered as external disturbances. The linear matrix inequality (LMI) tool is utilized to determine the controller gains. Finally, the performance of the suggested control strategy is confirmed by the simulation results.