This paper presents a unified approach toward regulation and servocontrol problems as special cases of a nonlinear model following control via the Takagi-Sugeno fuzzy model. New parallel distributed compensation (PDC) is presented for realizing a nonlinear model following control. The new PDC fuzzy controller mirrors the structures of two Takagi-Sugeno fuzzy models representing a nonlinear system and nonlinear reference model. First, we derive linear matrix inequality (LMI) conditions to linearize the error system between the feedback system and the nonlinear reference model. A controller is designed using LMI conditions. Design examples verify the usefulness of nonlinear model following control.