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In this study, the guaranteed cost control of continuous T-S fuzzy systems using piecewise Lyapunov function based switching fuzzy controller is presented. In our previous paper, the switching fuzzy controller, which switches depending on the piecewise Lyapunov function, was proposed. Based on the piecewise Lyapunov function and the switching fuzzy controller, more relaxed guaranteed cost control conditions are obtained. The relaxed conditions are bilinear with the s-procedure parameters. In this paper, the particle swarm optimization (PSO) algorithm, which is useful for the nonlinear optimization problem, is utilized to get the optimal control performance. A design example is provided to illustrate the validity of the design approach.