This paper tackles the stabilization of Takagi Sugeno (TS) fuzzy systems with time delay. In this work, we will use a weighted function to bound the time-derivative of membership functions. In addition, we will introduce slack matrices to obtain more flexible stability conditions from a computational point of view. Then, the stability approach will be extended to design a control that ensure the global closed loop stability for the time-delayed T-S system. Finally, real application (truck-trailer) is given to illustrate the effectiveness of the proposed approach.