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A Takagi-Sugeno fuzzy controller and an interpolative fuzzy controller for tire slip control in anti-lock braking systems are proposed. Both fuzzy controllers are developed using a benchmark consisting of a simplified nonlinear model describing the slip dynamics for a wheel, and perform the merge between 64 local PI or PID controllers. By employing local linearized models of the controlled plant, the local controllers are developed in the frequency domain. Development methods for the two fuzzy controllers are also offered. Simulation results show the control system performance enhancement ensured by the fuzzy controllers in comparison with the conventional PI ones.