A finite-time adaptive output feedback control scheme with output constraint based on an interval type-2 fuzzy logic system(IT2 FLS) is proposed to control the servo system driven by a permanent magnet synchronous motor(PMSM) which is difficult to achieve high-precision control under the influence of uncertain friction and unknown end-load. Firstly, an interval type-2 fuzzy state observer based on a nonlinear disturbance observer is constructed, which can estimate the unknown disturbance and velocity respectively, and the IT2 FLS can approximate the nonlinear friction. On this basis, an adaptive IT2 fuzzy output feedback controller with output constraint is designed by combining filtering error compensation mechanism and finite time technology, introducing the barrier Lyapunov function and backstepping control technology. Finally, according to the Lyapunov stability theory, a strict stability analysis is proposed, which ensures that all signals of the closed-loop system are bounded in finite time. Simulation and real-time experiments verify the effectiveness of the proposed method.