Tuning the parameters of a controller is very important in system performance. Ziegler and Nichols tuning method is simple and cannot guarantee to be effective always. In order to overcome the parameter uncertainties, enhance the fast tracking performance of a process system, a brand-new two-dimension PID fuzzy controller, fuzzy PI+ fuzzy ID, is proposed in this paper. The self-tuning fuzzy PI+ fuzzy ID controller is fast; computing on-line easily and can reduce stability error. To demonstrate the advantages of the fuzzy PI+ fuzzy ID controller, has been applied to an application in the control of Continuous Stirred Tank Reactor (CSTR) level loop. The simulation and real-time implementation were executed and its results show that the proposed control scheme not only enhances the fast tracking performance, but also increases the robustness of the system. From the simulation it is clear that there is substantial improvement in the Self-tuning Fuzzy PID controller in terms of peak overshoot, settling time, peak time, rise time, Integral Square Error (ISE) and Integral Absolute Error (IAE). © 2013 IEEE.