In this paper, a fuzzy PID controller is proposed for angular position control of a nonlinear propellerpendulum system. While classical control methods work well on linear systems, nonlinear control approaches should bedesigned for nonlinear ones. On the one hand, there are three constant gains related with linear proportional, integraland derivative terms in classical PID controller. On the other hand, these gains are varied with time by the proposedcontroller using fuzzy logic inference. In order to demonstrate the position control enhancement for the nonlinearsystem, the proposed controller is compared with classical PID controller using simulation results with and withoutexternal disturbance. The simulation results show that the proposed Fuzzy PID controller is more successful inreference tracking than classical PID controller.