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This paper proposes a design method of optimal controller for nonlinear systems using Takagi-Sugeno fuzzy modeling (1985). A simple explicit solution to the Hamilton-Jacobi equation and procedures are presented. Takagi-Sugeno fuzzy model has been widely used for identification of structure and parameters of unknown or partially known plants. Most real systems are nonlinear and we don't know its exact state equation. However we can identify its structure and model approximately with good precision using fuzzy modeling. We designed optimal controller for Takagi-Sugeno fuzzy model of a nonlinear system and applied the obtained optimal control inputs to the real plant.