Based on the type-2 fuzzy logic systems and direct torque control, this paper develops an adaptive fuzzy controller for a permanent magnet synchronous motor (PMSM). The adaptive law is designed to compensate for the reconstruction errors, using a sliding mode term. The type-2 fuzzy logic systems are used to model the unknown functions. Based on Lyapunov’s stability theorem, the stability of closed-loop systems can be verified. Moreover, the proposed overall control schemes guarantee that all the signals that are involved are bounded. To demonstrate the effectiveness of the proposed methods, simulation results are illustrated in this paper.