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This paper proposes a sampled-data fuzzy controller design technique for an autonomous underwater vehicle (AUV) depth system represented by an interval type-2 (IT-2) fuzzy model, considering input saturation. In the Takagi–Sugeno (T–S) fuzzy model of an AUV depth system, surge velocity is chosen as a premise variable. To address the associated uncertainty with this variable, we employ the IT-2 fuzzy modeling technique. Also, the controller proposed in this paper utilizes time-varying gains, ensuring superior exponential stability compared with traditional fixed gain approaches. Furthermore, a membership function-dependent (MFD) <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msub><mi>H</mi><mo>∞</mo></msub></semantics></math></inline-formula> criterion is employed to enhance robustness for each subsystem individually. Taking into account the mentioned aspects, the controller design condition is derived in the form of linear matrix inequalities (LMIs). Finally, the effectiveness of the proposed method is validated through simulation examples.