Conventional PID controllers are used in linear processes, showing an appropriate performance and simple tuning methods, however, in non-linear processes with changes in the set-point their response is degraded. In recent decades, the use of fuzzy controllers has increased, due its non-linear behavior and an accurate model of the process is not required. In this document, a new model-based tuning methodology is implemented, which has only been tested in a simulation environment and consists in the calculation of the scale factors of the controller from the parameters of the dynamic response of the system. The tuning method was applied to an one degree of freedom helicopter through a direct fuzzy controller. The platform implemented was tested against changes in the set-point and rejection of disturbances. The performance of controllers was measured through the ITAE and IAE performance indexes. The results of implementation and tests shown a better performance of the fuzzy controller regarding the conventional PID controller without complex computational intelligence algorithms or extensive trial and error methods for tuning.