Fuzzy controllers in general are designed using the experts' knowledge or human experience in order to decide the settings of a number of system factors. However, the relations between the factors and system performance are not easy to be determined. Usually, more than one system performance characteristic is considered. For determining the settings of factors in a systematical way, we apply Taguchi methods in this paper to design the structure of a fuzzy controller with multiple performance characteristics. A cart-pole system is exemplified to illustrate the design processes. An aggregated performance index is also proposed to measure the response of the cart-pole system. The simulated results showed that the proposed method can find the efficient design for fuzzy controller.