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I really stand by the suggestion to use a PI rather than fuzzy control algo. Considering the system, my greatest suggestion would be state-space, but we'll get into that later. It will do the same thing as the PI but with less varied response over the speed range.
If we added a speed sensor, we could have the controller automatically calculate the motors characteristics (V = I*R + x*rpm) and work the pwm output accordingly.
Current feedback pwm control using PI is really not that hard to implement or processor intensive... we're just using a really bottom-of-the-barrel processor. It also makes hardware limited completely moot except in disaster fail cases.
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