This paper describes the design and practical implementation for speed Fuzzy Self Tuning of Optimal PID control FSTOPID on a Servo Permanent Magnet Synchronous Motor PMSM. In this work, an industrial PMSM system has been identified including its drive. Nonlinear Least Squares Algorithm NLSA is used for model identification. For speed control, a variable load for the PMSM represents nontraditional control problem. One of the solutions to the problem is to apply a FSTOPID controller. This requires reformulating the control problem to include two parts, optimal PID controller and fuzzy logic controller FLC parts. The first part deals with the PID controller tuned using Ant Colony System ACS algorithm. The second one represents the on line fuzzy self–tuned of the optimal PID. The goal of this design is to regulate the speed and improve the transient performance of the PMSM system under load demand variations. Comparative analyses of practical implementation for the PMSM drive system are demonstrated under diverse load. Finally, experimental results show accurate identification and speed favorable performance. The results prove that the proposed controller is very useful for industrial servo PMSM system.