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This paper addresses the stabilisation issue, via a fuzzy control approach, for a class of nonlinear systems which can be approximated by the so-called dynamic fuzzy models (DFMs). An approach to the controller design on exponential stabilisation of the DFMs with affine terms is first presented. Then it is shown that semi-global stabilisation of the original nonlinear system can be established, if the designed exponential decay rate for the controlled DFMs is large enough. A simulation example is finally used to illustrate the performance of the proposed controller design approach.