Tuning control parameters of a fuzzy controller depends on trial-and-error. How this can be accomplished efficiently is an important subject in fuzzy control that should be investigated. We propose a method in which membership functions of a fuzzy controller can be simply set up using the knowledge of tuning parameters in a conventional PID controller. In this method, fuzzy control is realized as follows: Piecewise linear membership functions determined using the knowledge of tuning parameters in a PID controller are set up in antecedent parts of four fuzzy control rules having simple structures. Then the simplified inference method that enables high-speed inference is applied to fuzzy control rules.