In this paper, a disturbance observer based-control (DOBC) with H∞ performance under imperfect premise matching method is proposed via the Takagi-Sugeno (T-S) fuzzy approach. Using the T-S fuzzy model, a sufficient condition for guaranteeing the H∞ performance and asymptotic stability of closed-loop system with fuzzy disturbance observer (FDOB) and fuzzy controller is derived through linear matrix inequality (LMI). Unlike the previous studies using the parallel distributed compensation (PDC) method, the fuzzy controller designed under imperfect premise matching where the controller does not share the same membership functions from those of the fuzzy model. In addition, the external disturbance can be successfully estimated through FDOB. Therefore, the effect of the external disturbance can be reduced. Finally the simulation results for the inverted-pendulum system are provided to verify the effectiveness of the proposed design procedure.