The control of a twin rotor multi-input multi-output (MIMO) system (TRMS) is inherently challenging due to model uncertainties and external disturbances. The coupling between pitch and yaw positions further complicates the control problem. This paper proposes a gain scheduling fuzzy logic proportional-integral-derivative (PID) controller (GSFLPIDC) to address these challenges. The controller’s PID parameters are dynamically adjusted using a fuzzy rule base. Simulation results demonstrate that the proposed controller performs superior as compared to conventional Fuzzy Logic PID (FLPID) controller in the face of external disturbances and noise.