This paper proposes a novel service configuration approach that can realize dynamic critical Quality of Service (QoS) adaptation to ever-changing and resource-limited ubiquitous computing environments. In the approach, service configuration is reduced to a Fuzzy Control System (FCS) which aims to achieve critical QoS variations on minimal level with less power cost. Two configuration strategies, service chain reconfiguration and QoS parameters adjustment, along with a configuration algorithm, are implemented to handle different types of QoS variations. A self-optimizing algorithm is designed to enhance the adaptation of the FCS. Simulation results validate the proposed approach.