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This paper proposes a new quadratic stability condition and H∞ control designing for Takagi-Sugeno (T-S) fuzzy control systems. Firstly, new stability sufficient condition in the format of linear matrix inequalities (LMIs) is obtained by relaxing the stability condition derived in previous paper. It guarantees the existence of the state feedback H∞ control. Secondly, the paper addresses the H∞ controller designing, and the H∞ controller can be considered by solving a set of suitable LMIs. Finally, the validity and applicability of the proposed approach are successfully demonstrated through numerical simulations for the continuous-time nonlinear system.