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This paper proposes a new robust stabilization condition for Takagi-Sugeno (T-S) fuzzy control system with parametric uncertainties. The condition is represented in the form of linear matrix inequalities (LMIs) and is less conservative than some relaxed quadratic stabilization conditions published in the literature. Based on the LMI-based conditions derived, one can easily synthesize controllers for state feedback robust stabilization for T-S fuzzy control system with parametric uncertainties. Since only a set of LMIs is involved, the controller design is quite simple and numerically tractable. Finally, the validity of the proposed approach is successfully demonstrated in the the control of a continuous-time nonlinear system with parametric uncertainties.