In this paper, a new approach for Neuro-Fuzzy Controller (NFC) has been presented and compared to previously defined NFCs given in open literature. The proposed controller is based on an on-line Adaptive Neuro-Fuzzy Inference System (ANFIS) and meticulous analysis through simulations is performed to show its robustness. The performance of Neuro-Fuzzy Controllers (NFC) depends on controller inputs. To show the difference and superiority of the proposed controller, many studies in the open literature are examined and compared. Therefore, the advantages and disadvantages of the Neuro-Fuzzy controller are outlined and an optimum Neuro-Fuzzy controller is structured and presented. To test our developed controller for a nonlinear problem, having coupling effects, a 2 DOF helicopter model is chosen. Also to show the robustness, the controller performance which is applied to a 2 DOF helicopter is investigated and compared with other Neuro-Fuzzy controller structures. To better show NFC performance, NFC control results were compared with LQR+I. It is observed that besides being on-line adaptive for all systems, the controller developed has many priorities such as noiseless, strong stability, and better response time.