abstract:This paper presents a new approach using fuzzy compensator and PID controller to an experimental propeller setup which is called the twin rotor multi-input multi-output system (TRMS). Some previous works ignored the interactions between two axes and the controller being designed in horizontal or vertical direction separately. The goal of this study is to stabilize the TRMS in significant cross coupling conditions and to experiment with set-point control and trajectory tracking. The fuzzy compensator and PID controller design is performed by a real-valued genetic algorithm (RGA) with system performance index as fitness function. We apply the integral of time multiplied by the square error criterion (ITSE) to form a suitable fitness function in the RGA. Simulation results show that the proposed design can successfully adapt system nonlinearity and complex coupling conditions.