Evolutionary algorithms to design fuzzy rules from data for systems modeling have received much attention in recent literature. Many approaches are able to find highly accurate fuzzy models. However, these models often contain many rules and are not transparent. Therefore, we propose several objectives dealing with transparency and compactness besides the standard accuracy objective. These objectives are used to find multiple Pareto-optimal solutions with a multi-objective evolutionary algorithm in a single run. Attractive models with respect to compactness, transparency and accuracy are the result.