This paper gives position and tracking control of Mass-Spring-Damper System. Many methods are available to design controllers for non-linear systems. But, in this framework, a nonlinear system is represented as the fuzzy average of local linear models which are popularly known as Takagi-Sugeno (T-S) Fuzzy Model. Given a nonlinear system, in terms of a T-S Fuzzy Model, the T-S fuzzy model is rewritten in terms of a single nominal plant and rest of the plants are expressed as a disturbance to the nominal plant. The controller is designed such that, the overall system becomes stable in the presence of the disturbance terms. However, the implementation of the controller is constrained by the norm bound of the disturbance term. The control scheme can be designed using the concept of robust control technique. Moreover, the overall fuzzy scheme guarantees that all signals involved are bounded and the output of the closed-loop system will asymptotically track the desired output trajectory. In this paper, the algorithm has been applied to Mass-Spring-Damper System. The simulation is performed on the Mass-Spring-Damper System and the effectiveness of the proposed method is demonstrated.