In this paper, the real time tracking performance of the fuzzy pm controller has been evaluated on nonlinear 3-DOF helicopter system. Quanser 3-DOF helicopter system has been utilized as experimental setup. Three separate fuzzy pm controller have been employed so as to control three state of the system. The dynamics of the system has been altered via counterweight in order to examine the performances of the both controller for parametric uncertainty in system parameter. The results reveal that the fuzzy PID controller leads to a good tracking performance and has better parametric uncertainty rejection capability than LQR.