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In this paper, an adaptive fuzzy PID control scheme is investigated for a class of nonlinear systems with Hinfin tracking performance. Stability and robustness of the control scheme is analyzed in Lyapunov sense and a modified Riccati-like equation. It is shown that the proposed control scheme can guarantee parameter estimation convergence and stability robustness of the closed-loop system with Hinfin tracking performance for any prescribed level. Moreover, the simplicity of the scheme provides a new approach for implementing PID controller for a variety of nonlinear problems. The performance of the proposed scheme is evaluated through the simulation results. Simulations are given to show the validity and confirm the performance of the proposed scheme.