In this paper a method for autotuning SISO and MIMO PID fuzzy logic controller (FLC) is proposed. The fuzzy autotune procedure adjusts on-line the parameters of a conventional PID controller located in the forward loop of the process. Fuzzy rules, employed to determine the set of PID gains, are based on the representation of human expertise on how must be the behaviour of gain and phase margins of a control system to efficiently compensating the system errors. Performance and robust stability aspects are assessed by practical and simulated examples. The proposed control scheme offers advantages over the conventional fuzzy controller such as: i) a systematic design is attained in both SISO and MIMO cases; ii) it is necessary only one rule base for all loops; iii) the tuning mechanism is simple and control operators can easily understand how it works; and iv) it is completely autotuned, requiring only one relay feedback experiment per loop.