A methodology to design an attractive robust controller for traveling wave ultrasonic motor (TWUSM) is followed on this work. This methodology takes into account several non-linear effects, such as the friction effect, those occur in the ultrasonic motor mechanism. To achieve that, our first objective is to derive a simplified hybrid model (PSHM) that catch the main behavior of the motor during normal operation, including the stator/rotor contact interface, and that can be used to design speed and position control laws. Finally, based on this model, a Fuzzy logic controller (FLC) is designed in order to achieve robustness against several uncertainties (i.e. load torque variations, motor heating, parameters uncertainties...), and a popular Shinsei USR60 is used experimentally to validate the proposed methodology.