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This study presents a new self-tuning fuzzy proportional-derivative controller (NST-FPDC) with real-time adjustment of its output scaling factor (SF). Here, a simple heuristic rule is defined on the normalized change of error of the controlled variable in order to make continuous variation in the close-loop gain. The proposed NST-FPDC is tested on a number of non-linear, unstable, and integrating high-order systems under set-point change as well as load disturbance. Effectiveness of NST-FPDC is established through detailed performance comparison with a well known robust self-tuning FLC reported in the leading literature.