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In this paper, efficient fuzzy model predictive control (EEMPC) is studied for nonlinear systems. Nonlinear system is represented by a Takagi-Sugeno (T-S) fuzzy system that is useful for nonlinear plant modeling. T-S fuzzy system consists of several linear models. The control problem is solved based on MPC which solves an online optimization problem with linear matrix inequality (LMI) at each step...