Abstract: This paper discusses the synthesis of compensators for plants which can be represented using a Takagi-Sugeno (T-S) fuzzy model. The resulting compensator designs, called PDC controllers, are parameter dependent and mirror the structure of the T-S plant model. This paper extends the existing work on state feedback PDC controllers by introducing the notion of a dynamic PDC controller. The paper contains three new results. The first result provides a more relaxed version of previously stated conditions that are sufficient for the existence of a quadratically stabilizing state feedback PDC controller. The second result provides analogous conditions that are sufficient for the existence of a quadratically stabilizing dynamic PDC controller. The third result deals with the performance-oriented controller synthesis for T-S fuzzy model.