This study presents a guaranteed-cost fuzzy controller for a self-sustaining bicycle. First, the nonlinear dynamics of the bicycle are exactly transformed into a T-S fuzzy system with model uncertainty. The guaranteed-cost fuzzy controller is then designed for the transformed T-S fuzzy system. For practical considerations, the input/state constraints are also satisfied in the design. The main contribution of this study is the guaranteed-cost control design for a T-S fuzzy system with model uncertainty and input/state constraints. Finally, simulation results show the validity of the proposed controller design method.