A methodology to design an attractive robust controller for travelling wave ultrasonic motor (TWUSM) is followed on this work. This methodology takes into account several non-linear effects, such that the friction effect, those occur in the ultrasonic motor drive mechanism. To achieve that, our first objective was to derive a model that catch the main behaviour of the motor during normal operation, including the stator/rotor contact interface, and that can be used to design speed and position control laws. Then, based on this model, a NeuroFuzzy controller (NFC) is designed in order to achieve robustness against several uncertainties (i.e. load torque variations, motor heating, parameters uncertainties...). Finally, the proposed NFC is compared with more classical controllers and a popular Shinsei TWUSM is used experimentally to validate the proposed methodology.