Permanent Magnet Synchronous Motors have nonlinear characteristics whose dynamics change with time. In spite of this structure the permanent magnet synchronous motor has answered engineering problems in industry such as motion control which need high torque values. This paper obtains a nonlinear mathematical model for a Permanent Magnet Synchronous Motor, and realizes simulation of the obtained model in the Matlab/Simulink program. Motor parameters are determined by an experimental set-up and they are used in the motor model. Speed control of motor model is made with Fuzzy Logic and Self Tuning fuzzy logic PI controllers. Using the speed graphs obtained, rise time, overshoot, steady-state error, and settling time are analyzed and controller performances are compared.