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The problem of robust H∞ control for fuzzy time-delay systems is addressed. On the basis of the fuzzy modeling, the fuzzy controller is designed which depends not only on the state, but also on the derivative of the state. The sufficient condition is derived such that the system is asymptotically stable and the H∞ performance is satisfied for fuzzy time-delay systems. This condition is formulated in the form of linear matrix inequalities. Simulation results show the effectiveness of the proposed method.