This paper presents a fuzzy PD speed control scheme for the robust speed tracking of a permanent magnet synchronous motor (PMSM). Motivated by the common control engineering knowledge that transient performance can be improved if the P gain is big and the D gain is small in the beginning, a linearizing control scheme with a fuzzy PD controller is proposed. The global system stability is analyzed and the proposed control algorithm is implemented using a TMS320F28335 DSP. Simulation and experimental results are given to verify the effectiveness of the proposed method.