A fuzzy controller has many degrees of freedom in terms of its component selection (e.g., different types of fuzzy sets, and different kinds of fuzzy rules). Consequently, linear or piecewise linear controllers can be unconsciously resulted, which is undesirable, as it is irrational to use fuzzy control that way. Fuzzy controllers should be used, and taken advantage of, as nonlinear controllers only, not as linear or piecewise linear controllers. Currently, there exist no rigorous methods, analytical or otherwise, to precisely determine whether a fuzzy controller designed is nonlinear or not. In the present paper, we establish conditions under which linearity, piecewise linearity or nonlinearity of a general class of Mamdani fuzzy controllers can be determined. These fuzzy controllers can use input fuzzy sets of any types, arbitrary fuzzy rules, arbitrary singleton output fuzzy sets, arbitrary inference methods, either Zadeh or the product fuzzy logic AND operator, and the centroid defuzzifier. We prove that the fuzzy controllers using Zadeh AND operator are always nonlinear, regardless of choice of the other components. The general fuzzy controllers using the product AND operator are also always nonlinear except when all input fuzzy sets are triangular or trapezoidal and a couple of other conditions are satisfied. The exceptions lead to piecewise linear or linear controllers. A concrete example is provided to illustrate the results. Our new findings provide muchneeded insight to connections between the components and nonlinearity of the fuzzy controllers. They enable fuzzy control developers to correctly choose appropriate types and configurations of the components (e.g., triangular fuzzy sets instead of Gaussian ones) at the beginning of design stage, saving design time and effort. Soft Comput (2005) 9: 606-616