A control algorithm for a class of non-linear uncertain systems is presented. The algorithm utilizes fuzzy systems based on "Takagisugeno" (TS) fuzzy models to approximate nonlinear systems. TS fuzzy systems are classified into three families based on the input matrices and a robust controller synthesis procedure is given for each family. It has been shown that the proposed method leads to robust control structure over a wide range of uncertainties of plant parameters. The unmanned helicopter system is used to illustrate the effectiveness of the proposed method