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This paper presents servo control for a class of nonlinear systems using the fuzzy model-based control approach. We propose the construction method of augmented fuzzy servo control system for continuous-time nonlinear systems by differentiating the original nonlinear system. Moreover, we introduce the dynamic fuzzy servo controller which can make outputs of the nonlinear systems converge to target points, and derive the controller design conditions in terms of LMIs. A design example illustrates the utility of this approach.