This chapter concerns the universal fuzzy models and universal fuzzy controllers problem for non-affine nonlinear systems based on a class of generalized T–S fuzzy models. Universal function approximation capability of this kind of T–S fuzzy models is shown first, based on which the problem of universal fuzzy models is investigated. Detailed algorithm of constructing T–S approximation fuzzy models is provided. Then we show that the semi-global stabilization problem of a non-affine nonlinear system can be solved as a robust stabilization problem of a uncertain T–S fuzzy system. The we discuss the universality of the fuzzy control approach in the context of two classes of nonlinear systems, and we provide constructive procedures to obtain the universal fuzzy controllers. An example is finally presented to show the effectiveness of our approach.