A novel robust tracking control technique for time-delay systems with uncertain time-delays based on fuzzy T-S is presented. Fuzzy T-S model with parametric uncertainties is employed to represent the uncertain time-delay plant. This control synthesis design is shown reduce the tracking error considerably for all bounded reference inputs while guaranteeing the H^∞ performance. The proposed solution has advantage of employing only a simple fuzzy controller and no complicated adaptive scheme. The fuzzy tracking control synthesis is parameterized in terms of a linear matrix inequality, which are solved efficiently by using convex optimization techniques. This method has been applied to trailer-truck example and respective numerical and simulation results demonstrate its valid applicability and efficiency.