The H-infinity tracking control problem is studied for a class of nonlinear networked control systems (NCSs). In NCSs, a Takagi-Sugeno fuzzy model is adopted to describe the nonlinear controlled plant, and the tracked plant is represented by a linear stable reference model. By using input-delay and parallel distributed compensation (PDC) techniques, we build a novel state tracking error model based on the system states at the updating instant of a zero-order holder in which both network-induced delay and data packet dropouts are considered. Furthermore, an improved weight-free matrix approach and the Lyapunov stability theory are employed to derive several sufficient criteria ensuring the prescribed H-infinity tracking performance of the nonlinear NCSs. Meanwhile, the fuzzy controller design method is also presented. Finally, a numerical example is given to demonstrate the usefulness and the advantages of the proposed scheme.