This paper presents servo control for nonlinear systems with input constraint using the fuzzy model-based control approach. We introduce input difference between present input and final input which is a bias input to keep output at a target point after making output converge to the target point. By adding input difference and time-derivative nonlinear system, we construct the augmented system with input difference. We derive LMI conditions for designing servo controller and for constraining control input. By simultaneously solving servo controller design condition and the constraint condition, servo control with input constraint is achieved.