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This paper presents the first steps towards a robust model-based controller design for two-link manipulators using a Takagi Sugeno fuzzy descriptor form. Due to the circumstances that this form is more similar to a given original nonlinear equation as a Takagi Sugeno fuzzy state-space system, it allows to reduce the conservatism of the controller design by using common matrix structures. The model-based control law here is equivalent to the well-known parallel distributed compensation scheme. The challenge of the investigated modelling and control problem in this case is the highly nonlinear dynamics of the dual-actuator drive powered by air-pressure that interacts with the dynamics of the robot manipulator.