This paper proposes on-line modeling via Takagi-Sugeno (T-S) fuzzy models and robust adaptive control for a class of generalized multiple input multiple output (MIMO) nonlinear dynamic systems with external disturbances. The T-S fuzzy model is established to approximate the nonaffine nonlinear dynamic system in a linearized way and is used to be an error compensator for external disturbances and system uncertainly, i.e. the unmodeled dynamics, modeling errors and external disturbances. In second type adaptive laws, fuzzy B-spline membership functions (BMFs) are developed for on-line tuning. In this paper, we can prove that the closed-loop system which is controlled by the proposed controller is stable and the tracking error will converge to zero.