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This paper proposes direct adaptive fuzzy control with less restriction on control gain for siso nonlinear systems and is presented a simplified type-2 fuzzy system. Adaptation law is derived based on Lyapunuv stability analysis that assures adaptive parameters and tracking error to be bonded. Since in addition to consequent parameters,width and centers of the membership functions are tuned then the estimation error is very small so as to be negligible.Furthermore, the number of membership functions required is seen to be less than that needed with type-1 fuzzy sets. The simulation results that are conducted on inverted pendulum and magnetic levitation systems confirm the efficacy of the proposed scheme. In the presence of noise the reference input is tracked very well and tracking error is very small.