In this paper , we study the problem of designing TS(Takagi-Sugeno) fuzzy controllers for the systems that can be approximated or represented by the TS fuzzy model. The main strategy used in this paper is the inverse optimal approach, in which the cost function is determined later than the Lyapunov function and its corresponding control input satisfying the design requirements such as stability, decay rate, and robustness against uncertainty. This approach is useful because it yields controllers satisfying the inherent robustness of optimal controllers as well as the considered design goals. The design procedures established in this paper are all in the from of solving LMIs(Iinear matrix inequalities). Since the LMIs arising in the design procedures can be solved within a given tolerance by the interior point methods. the design method of the paper are efficient in practice. The applicability of the proposed design procedures is demonstrated by design examples.