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Motion control of high rise elevator is a typical multi-objective control and nonlinear control problem. To effectively solve the multi-objective control and nonlinear control problem, an linear matrix inequality (LMI)-based and Takagi-Sugeno(T-S) model-based fuzzy approach is employed. First, the generalized T-S type fuzzy model for the system is constructed, and then system global state controller was carried out via the so-called parallel distributed compensation (PDC) scheme. Second, state feedback robust controller was gained based on LMI method. The simpleness and effectiveness of the controller were showed by the simulation, and the robustness was satisfied for the system. Multiobjective control and nonlinear control problems have been solved effectively.