This work presents a model reference adaptive control structure based on the fuzzy logic mechanism for nonlinear systems. The main elements in the proposed control scheme are a model reference fuzzy controller (MRFC) and a robust fuzzy compensator (RBFC). The MRFC is developed to modulate the closed-loop linearized system performance to approximate the desired reference model. The RBFC compensates the diversity between the nonlinear systems and designed linearized model. Furthermore, when the nonlinear system suffers disturbance, the RBFC can provide applicable force to resist the disturbance, allowing the entire system to be robust. The overall system is provided with a model reference response and good robustness. The proposed control scheme and the effectiveness demonstrate the ability by computer simulations.