The traditional PID controller can’t adapt to time-variant, uncertain and nonlinear system. In this paper, a new fuzzy adaptive PID control method based on identification structure waspresented. Integrating model identification formed the adaptive fuzzy PID self-tuning algorithm,parameters tuning of PID controller and fuzzy control. The model of control object can be identifiedonline used identification structure, and then Ziegler-Nichols method is used to tune the parameters ofPID controller in advance. The dynamic and static performance index of control system is optimized bycomputing the error and error-changing rate, using fuzzy rule to inquire fuzzy matrix table and real-time turning PID controller’s parameter. Simulations indicate that it is more steady and strongapplicability and robustness than traditional PID. In this paper, a new fuzzy adaptive PID control method based on identification structure waspresented. The adaptive PID control method based on identification structure waspresented. of PID controller and fuzzy control. The model of control object can be identified online used identification structure, and then Ziegler-Nichols method is used to tune the parameters of PID controller in advance. The dynamic and static performance index of control system is optimized bycomputing the error and error-changing rate, using fuzzy rule to inquire fuzzy matrix table and real-time turning PID controller’s parameter. Simulations indicate that it is more steady and strongapplicability and robustness than traditional PID.