This paper describes a novel idea for designing a fuzzy-neural network for modeling of nonlinear system dynamics. The presented approach assumes a state-space representation in order to obtain a more compact form of the model, without statement of a great number of parameters needed to represent a nonlinear behavior. To increase the flexibility of the network, simple Takagi-Sugeno inferences are used to estimate the current system states, by a set of a multiple local linear state estimators. Afterwards, the output of the network is defined, as function of the current and estimated system parameters. A simple learning algorithm based on two step Gradient descent procedure to adjust the network parameters, is applied. The potentials of the proposed modeling network are demonstrated by simulation experiments to model an oscillating pendulum and a nonlinear drying plant.