This paper addresses the problem of fuzzy control design for a class of nonlinear distributed parameter systems represented by a cascaded model consisting of a Takagi-Sugeno (T-S) fuzzy ordinary differential equation and a linear first-order hyperbolic partial differential equation (PDE), where the control input affects the entire system through a boundary condition of the PDE. This characteristic makes the PDE subject to an inhomogeneous boundary condition. A state transformation is introduced to make the inhomogeneous boundary condition homogeneous, and a composite Lyapunov function that involves a fuzzy Lyapunov function and an entropy-like Lyapunov function is constructed for the transformed system. Based on this composite Lyapunov function, a sufficient condition for the closed-loop exponential stability of the cascaded system is presented in terms of a set of algebraic linear matrix inequalities in space. Using the sector bound approach and the finite spatial domain, a linear matrix inequality-based fuzzy control design procedure is developed from the obtained stability analysis result. Finally, simulation results on two numerical examples are provided to illustrate the effectiveness and merit of the proposed design method.