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A parameter estimation scheme with an appropriate adaptive law for updating the parameters is designed and analyzed based on the Lyapunov theory for the general MIMO Takagi-Sugeno (T-S) fuzzy models. The parameters of the Takagi-Sugeno fuzzy models can be estimated by observing the behavior of the system and with the online parameter estimator, any type of fuzzy controllers works adaptively to the parameter perturbation. In order to show the applicability of the proposed estimator, an existing fuzzy state feedback controller is adopted and indirect adaptive fuzzy control design with the proposed estimator is shown. From the numerical simulations and experiments, it is shown that the derived adaptive law works for the estimation model to follows the parameterized plant model and the overall control system has robustness to the parameter perturbation.