A new multiple-input multiple-output (MIMO) proportional-integral-proportional-derivative (PIPD) type fuzzy logic controller (FLC) is proposed for pitch and yaw motion control of a twin rotor system in this study. A fuzzy feedforward compensator for gravity effects on pitch motion of the twin rotor is also designed. Fuzzy logic was preferred for controller design since it can be applied to nonlinear systems and do not require the mathematical model of the system. The twin rotor system is a highly nonlinear system that includes coupling effects between pitch and yaw motions and has similar dynamics to that of a helicopter in certain aspects. Experimental results demonstrate that the proposed controller is able to stabilize the system along with good trajectory tracking performance.