Many researches use T-S fuzzy models to accurately represent nonlinear dynamic systems. However, T-S fuzzy makes the implementation of fuzzy controller more complex as system order and nonlinearities increase. Thus, the present work is aimed to overcome these limitations by using an Interval Type-2 Fuzzy Rule-Based System in which the membership functions and the number of rules can be freely chosen simplifying the implementation of the technique. To this end, it is established a direct state feedback control with reference tracking to generate the nonlinear control action using parallel distributed compensation techniques with no need to include T-S fuzzy models to describe the dynamic system. The proposed strategy is applied to a synchronous generator and also to a magnetic levitation system. From the results, it was verified that IT2FRBSs are able to stabilize the systems analyzed at different equilibrium points with higher performance and less settling times, given the uncertainties in the linearized model. In fact, the IT2FRBS proved to be a proper way to accomplish this task, because fuzzy logic control itself does not depend on an accurate model.