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This paper presents improved LMI (linear matrix inequality) controller design condition for switching fuzzy model-based control using slack variable approach based on the inverse use of the elimination lemma. In our previous papers, we derived controller design conditions for augmented switching fuzzy model which consists of a switching fuzzy model and a stable linear system. However, in the papers, we have to determine the stable linear system in advance. In this paper, by employing slack variable approach based on the inverse use of the elimination lemma, we derive LMI controller design conditions for the switching fuzzy model without determining the stable linear system in advance. A design example illustrates the utility of this approach.