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Nonlinear systems can be divided into two parts: a nonlinear part related to the input and another part not related to that. In the fields of fuzzy control, one generally has tried to use common fuzzy weighting functions for modeling two parts, simultaneously. However, in general, the direct selection of common fuzzy weighting functions is difficult and the rough selection of those can lead to the conservative results. To overcome these, in this paper, we present a Takagi-Sugeno (TS) fuzzy model with different fuzzy weighting functions for two parts and a guaranteed cost fuzzy controller for the system with input saturation.