This paper proposes a novel $H{infty}$ T-S Fuzzy controller with a weighted integral action for Interior Permanent Magnet Synchronous Motor(IPMSM) which have nonlinear dynamics. The $H{infty}$ T-S Fuzzy controller is used for the robustness of nonlinear systems and the weighted integral action is used for the tracking problem and the improvement of control performance. A T-S Fuzzy controller is designed by combining the local controllers with the overall stability, and LMI(Linear Matrix Inequality)is used to determine the gains of linear controllers. The tracking problem of IPMSM is changed into regulator problem by introducing the integral action and the weighting factor gives flexibility to a $H{infty}$ fuzzy controller.