In this paper, a new adaptive fuzzy controller with CMAC-based adaptive scaling factors is proposed. By using the proposed method, scaling factors can be tuned on-line, and control performance can be improved. In addition, CMAC is used only for tuning scaling factors, so that it is easy to implement and other fuzzy parameters can be designed by conventional method. Furthermore, robustness for modeling error can be improved as compared to conventional method. Finally, simulation results are shown to demonstrate that the proposed method has better dynamic and static property and has better robustness than conventional method.