In this paper we are interested in robust adaptive fuzzy control of nonlinear SISO systems in the presence of parametric uncertainties. The plant model structure is represented by the Takagi-Sugeno (T-S) type fuzzy system. An indirect adaptive fuzzy controller based on model reference control scheme is proposed to provide asymptotic tracking of reference signal. The controller parameters are computed at each time. The plant state tracks asymptotically the state of the reference model for any bounded reference input signal. Inverted pendulum and mass spring damper are used to check the performance of the proposed controller.