Abstract: A T-S fuzzy descriptor tracking control design for nonlinear systems with a guaranteed H∞ model reference tracking performance is discussed. Slack variables are introduced into the model by equivalent transforming of the ordinary fuzzy model to a fuzzy descriptor model, and then a new H∞ tracking controller design method which is based on linear matrix inequality (LMI) is obtained. Its advantages are to solve all the controlling variables in LMIs at the same time to avoid the difficulties caused by two-step strategy, and the controller is robust. Two simulation examples are provided to demonstrate effectiveness of the method.