In this paper is considered the problem of designing fuzzy dynamic output controllers in the parallel distributed form for Takagi-Sugeno fuzzy systems. After a brief section outlining used separation principle, the typical matrix variable structures are found, to define the solution based on the parameterized matrix inequalities. By creating the common framework related to the closed-loop system, applied separability defines two part factorisations with linearized set of linear matrix inequalities. The main results are shown in detail by the example to characterize potential application of the method for the systems with Takagi-Sugeno models.