A control algorithm for a class of non-linear uncertain systems is presented. The algorithm utilizes fuzzy systems based on "Takagi-sugeno" (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 two inverted pendulum system is used to illustrate the effectiveness of the proposed method.