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A switching controller is proposed to control nonlinear plants subject to unknown parameters within known bounds. The nonlinear plant is represented by a fuzzy plant model. This switching controller is able to drive the system states to follow those of a reference model. The switching controller consists of several linear controllers. One of the linear controllers is employed at each moment according to a switching scheme, which is derived based on Lyapunov stability theory. First, we describe a reference model, a fuzzy plant model, and a switching controller. Next, we investigate the system stability of the switching control system. The switching scheme is derived based on Lyapunov stability theory, and the gains of the switching controllers are designed. Then, we provide an application example of an inverted pendulum on a cart. Finally, we present our conclusions.