In this paper, a fuzzy logic controller approach is presented for twin rotor multi-input-multi-output (MIMO) system in order to improve the control of pitch and yaw motions under hovering conditions. Twin rotor MIMO system resembles a helicopter model in some common aspects like cross coupling of pitch and yaw motions. The proposed approach is compared with another control strategy by simulations for a nonlinear two degrees of freedom twin rotor model. Set point reaching and trajectory tracking behaviours of the TRMS are analysed by time and step response characteristics. Results of time and step responses indicate that fuzzy logic controller improves set point reaching and trajectory tracking performance of the closed loop system.