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This paper addresses the robust fuzzy controller design for a class of nonlinear system with norm-bounded parametric uncertainties, and its application to attitude controller design for hydrofoil catamaran. First, a robust fuzzy controller is proposed, which can guarantee that the fuzzy system is asymptotically stable. The sufficient conditions are formulated in the form of linear matrix inequalities (LMI). The comparison between the new result and previous method shows that the stability conditions herein possess much less conservativeness. Second, the robust fuzzy controller is applied to attitude controller design for hydrofoil catamaran. Based on such a boat, "HC200B-AI", simulation researches demonstrate the drawbacks of conventional control strategies are overcome successfully.