This has not been a waste of your time. It is well known that PID controllers do not always work well, even though they are quite satisfactory most of the time. While a PID controller allows no flexibility of structure, a fuzzy logic controller can be whatever it needs to be (or something quite different from what it needs to be — which explains its reputation). You can start with the fuzzy PID controller, with a fuzzy logic rule set and initial parameter choices that match an established PID configuration. Add rules to cover situations that the PID controller does not address well, and adjust parameters to see what benefits derive, with just as much new complication as you need but no more. With classic PID, you are stuck.