Fuzzy logic controllers of the Takagi-Sugeno (TS) type are an attractive alternative for effective control of complex non-linear systems. Their main advantages are their computational efficiency, transparency and flexibility [13, 14]. This is due to their dual, quasi-linear nature: they are non-linear and therefore suitable for complex systems, but they could also be treated as linear in respect to the consequent parameters. This fact makes possible the application of efficient recursive techniques. TS models are bridging the classical control theory [8] and the fuzzy set theory [12]. They generalize the well-established concepts of gain scheduling and local linear modeling and control [4].