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A less conservative LMI-based fuzzy H∞ controller via T-S (Tagaki-Sugeno) fuzzy model is proposed, and applied to attitude control for hydrofoil catamaran throughout its entire operating range. Firstly, a nonlinear system is represented by a T-S fuzzy model. Fuzzy robust control strategy is secondly presented with guaranteed H∞ control performance, which takes into consideration a much closer relationship between subsystems. In this method, the so-called PDC (parallel-distributed compensation) scheme is used to construct the H∞ fuzzy controller. Finally, based on hydrofoil catamaran, HB200B-A1, simulation researches demonstrate that the effectiveness of the H∞ fuzzy controller for attitude control of hydrofoil catamaran is used to attenuate external disturbances, such as waves and winds. It is shown that the drawback of conventional controller for hydrofoil catamaran can be overcome successfully, which is only efficient near the operating point.