Many Takagi-Sugeno (T-S) fuzzy systems use the linear matrix inequality (LMI) to design the controllers. Although LMI can be solved off-line, there are still some difficulties in T-S fuzzy control design with LMI, such as complexities in the analysis and the computation, and conservativeness for complex systems. In this paper, we first transform the T-S fuzzy system into a time-varying nonlinear system. Then we apply the Riccati differential equation to design the fuzzy control. The stability of the T-S fuzzy control is proven. The trajectory tracking error converges to a bounded zone. This novel design method for T-S fuzzy control is more simple and effective than LMI-based methods. The on-line soultions of the Riccati equation can be ontained directly from a designed differential equation.