Abstract: A new scheme of indirect adaptive fuzzy control for a class of nonlinear systems is proposed in this paper. The design is based on the supervisory control strategy presented by Wang Li-Xin in 1994 and the approximation capability of the second type fuzzy systems. The adaptive compensation term of the optimal approximation error is adopted. The approach does not require the optimal approximation error to be squareintegrable or the supremum of the optimal approximation error to be known. By theoretical analysis, the closed-loop fuzzy control system is proven to be globally stable, with tracking error converging to zero. Simulation results demonstrate the effectiveness of the approach.