This paper proposes a Takagi-Sugeno-Kang (TSK) fuzzy controller design using scaling gain adaptation. The proposed adaptation law for the TSK fuzzy controller resulting from the direct adaptive approach is used to appropriately determine the control signal of the controller. The primary advantage of the proposed method is that the parameters of the fuzzy controller, including its rules and membership functions; do not need to be changed under control, particularly when only one adapted parameter is used. Usually, it is not easy to characterize the linguistic control rules and the membership function distribution without expert knowledge when the number of input variables of fuzzy controller is large. In this study, we first organize the TSK fuzzy controller without any specific experience information about the controlled system. Then, the proposed adaptation law is used to adapt the controller’s output scaling gain so that the satisfactory system performance of the closed-loop control system can be achieved. Finally, we use the proposed fuzzy controllers to control a nonlinear system, verifying its effectiveness.