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This study is concerned with the fuzzy H∞ non-uniform sampling tracking control problem of non-linear systems described by Takagi-Sugeno fuzzy systems. Considering the stochastic actuator failures, together with the input delay approach, a unified tracking control model of the non-linear systems with stochastic parameter matrix is first established. The unified model has three features: (I) the different premise variables and timescales are employed in the T-S fuzzy models and the controller rules; (II) non-uniform sampling controller is designed and (III) the fault statistics of each actuator is individually quantified. Based on Lyapunov functional approach and stochastic analysis technique, a control design scheme that guarantees the prescribed H∞ tracking performance of the non-linear systems is proposed in terms of linear-matrix-inequalities. Finally, two application examples are given to show the effectiveness of the proposed method.