Abstract — In the control loop, the pneumatic control valve is a highly nonlinear component having nonlinearities such as stiction which induces the limit cycle and oscillations in the steady state response. This paper successfully shows the elimination of oscillations from the Process Variable (PV) and controller output (OP) due to sticky pneumatic control valve by using a proposed control methodology, namely Fuzzy Gain Scheduling of an Integral minus Proportional minus Derivative (FGS I-P-D) controller. The uniqueness of the proposed control method is that it is a standalone solution and it does not require any additional compensating component in the closed loop as reported in the literature. In the I-P-D controller, integral action is performed on the error signal while proportional and derivative actions are realized using PV. The gains of the I-P-D controller were computed at runtime using a mamdani type fuzzy inference mechanism. The performance of the FGS I-P-D controller was compared with conventional I-P-D controller for setpoint tracking capability and external disturbance rejection at different operating points on a laboratory scale pressure control unit. The experimental results clearly show that the FGS I-P-D controller outperformed classical I-P-D controller in every aspect of investigation performed and suppressed efficiently any stiction induced oscillations in PV and OP.