Nonlinearities widely exist in practical physical systems, so nonlinear control and analysis become a research hotspot in the control field. The Takagi-Sugeno (T-S) fuzzy model provides an important tool for modeling nonlinear dynamics. By mean of the type-1 fuzzy set, nonlinear structures can be represented via the local linear models and their membership functions (MFs) [1]. Because of its good nonlinear modeling ability, the type-1 T-S fuzzy model has been widely utilized in practical applications, such as, DC–DC converters [2], wheeled vehicles [3], unmanned marine vehicles [4]. However, it should be pointed out that practical systems usually involve some uncertain parameters so that the research of uncertain nonlinear systems attract more attentions. Different from the type-1 T-S fuzzy model, the interval type-2 (IT2) T-S fuzzy model not only has the ability to deal with nonlinearity, but also shows the advantage of dealing with uncertainties by means of the upper and lower MFs.