This paper studies the asymptotic stability for a class of non‐instantaneous impulsive systems and Takagi‐Sugeno (T‐S) fuzzy non‐instantaneous impulsive control for linear and nonlinear systems. First, a class of concrete comparison system for a more accurate and universal nonlinear non‐instantaneous impulsive model is constructed. Then, the less conservative sufficient conditions of Lyapunov asymptotic stability are studied by impulsive differential inequalities and generalized comparison principle. On the other hand, an improved non‐instantaneous impulsive control scheme with T‐S fuzzy model is also presented for the asymptotic stability of the nonlinear systems. Finally, simulation results on controlling a linear and a nonlinear system are presented to illustrate the rationality and effectiveness of the obtained results.