In this paper, a fuzzy PID controller is proposed for angular position control of a nonlinear propeller pendulum system. While classical control methods work well on linear systems, nonlinear control approaches should be designed for nonlinear ones. On the one hand, there are three constant gains related with linear proportional, integral and derivative terms in classical PID controller. On the other hand, these gains are varied with time by the proposed controller using fuzzy logic inference. In order to demonstrate the position control enhancement for the nonlinear system, the proposed controller is compared with classical PID controller using simulation results with and without external disturbance. The simulation results show that the proposed Fuzzy PID controller is more successful in reference tracking than classical PID controller.