This paper presents a nonlinear tracking con-trol approach for a two degrees of freedom (2-DoF) se-rial manipulator. The design goal is to achieve a guar-anteed H∞tracking performance while keeping the de-signed controller as simple as possible for real-time im-plementation. To this end, the descriptor Takagi-Sugenofuzzy modeling is used to describe the nonlinear dynam-ics of the robot. Then, based on Lyapunov stability the-ory, we propose conditions to design fuzzy controllersfor trajectory tracking purposes. The control designprocedure is reformulated as an optimization problemunder linear matrix inequality constraints which can beeffectively solved with semidefinite programming tech-nique. Numerical experiments carried out with the Sim-scape MultibodyTM library of Matlab Rclearly demon-strate the effectiveness of the proposed approach interms of tracking control and numerical simplicity