This paper was concerned with the problem of filter design for the continuous-discrete system in the Takagi-Sugeno (T-S) fuzzy model. In a known finite frequency (FF) domain, an FF $H_{\mathrm{\infty }}$ performance was defined for the nonlinear continuous-discrete system. With the designed filter, sufficient conditions were then established for the filtering error system to be asymptotically stable and having a prescribed FF $H_{\mathrm{\infty }}$ performance. After that, a systematic method for the filter design was proposed. Finally, an example was provided to check effectiveness of the derived results.