This paper discusses an output-tracking control design method for Takagi-Sugeno fuzzy systems with parametric uncertainties. We first represent the concerned system as a set of uncertain linear systems. The tracking problem is then converted into a stabilization problem thereby leading to a more feasible control design procedure. A sufficient condition for robust practical output tracking is derived in terms of a set of linear matrix inequalities. A numerical example for a flexible-joint robot-arm model has been demonstrated, to convincingly show effectiveness of the proposed system modeling and control design.