ABSTRACT:In control theory, the robust properties of linear systems can be related directly to properties of the controllability or observability Gramian. In this paper, a discrete fuzzy controller for a class of nonlinear systems is developed to achieve a common controllability Gramian. We assume that the nonlinear system is represented by the Takagi-Sugeno fuzzy model. The purpose of this paper is to find the output feedback gains for the T-S fuzzy controller after assigning a certain common controllability Gramian. Finally, we provide a numerical example to verify the effects of the proposed method.