Stroke disease is a condition that occurs when blood flow to the brain is reduced or poor caused of blockage or rupture of blood vessels. It causes parts of body that are controlled by the dead brain cannot work properly or run into paralysis. Functional Electrical Stimulation (FES) is one of method to activate sensoric-motoric system with sending electrical pulses to the specified muscle. The controller used in this study for FES is Fuzzy-PID controller. Fuzzy controller was used to determine which channel to be activated based on the amount of error, meanwhile PID controller as a feedback controller. It also has good stimulation pattern, which can determine which stimulation channel to be activated based on the amount of error. Combining Fuzzy and PID in the control system obtained good results, which the average angular error has a value less than 100 and able to produce a circular motion as desired. Further clinical test with paralyzed subjects would be next research step.