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A direct model reference adaptive control via Takagi-Sugeno fuzzy modelling and parallel distributed compensation is developed for the MIMO plant model to control an uncertain flexible joint manipulator. The proposed control scheme is proposed to provide asymptotic tracking of a reference signal for the systems with uncertain parameters. From Lyapunov stability analysis and simulation results, the developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal.