This paper deals with the control of concentrating parabolic solar collectors by forcing the outlet oil temperature to track a set reference. A fuzzy universal approximate model is introduced in order to accurately reproduce the behavior of the system dynamics. The proposed model is a low order state space representation derived from the partial differential equation describing the oil temperature evolution using fuzzy transform theory. The resulting set of ordinary differential equations simplifies the system analysis and the control law design and is suitable for real time control implementation. Simulation results show good performance of the proposed model.