This paper gives the position and tracking control of a nonlinear system. Inverted pendulum is an under actuated, unstable and non-linear system. Therefore, control design of such a system is a challenging task. There are many methods to design a controller, but Takagi-Sugeno (T-S) fuzzy controller is one of the traditional control technique which is applied to a non-linear system to check the performance and stability. In this paper, the non-linear system is represented as a linear system by using sector nonlinearity method. Here, the control objective is to control the system such that, the inverted pendulum is stabilized in the upright position. Simulation is performed on the inverted pendulum system, and the effectiveness of the proposed site is demonstrated and the robustness is also verified. In this paper, the algorithm has been applied to the Inverted pendulum system with eight nonlinearities. The simulations are performed on inverted pendulum system and the effectiveness of the proposed method is demonstrated and also the robustness of the system is verified.