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The problem of robust fuzzy control for a class of nonlinear fuzzy impulsive systems with time-varying delay is investigated by employing Lyapunov functions. The nonlinear delay system is represented by the well-known T-S fuzzy model. The so-called parallel distributed compensation idea is employed to design the state feedback controller. Sufficient conditions for global exponential stability of the closed-loop system are derived in terms of linear matrix inequalities (LMIs), which can be easily solved by LMI technique. An example is given to demonstrate the effectiveness of the proposed method.