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- In this paper, we propose a nonlinear variable PID controller using a cell-mediated immune response. An immune feedback response is based on the functioning of biological T-cells. An immune feedback response and P-controller of conventional PID controllers resemble each other in role and mechanism. Therefore, we extend immune feedback mechanism to nonlinear PID controller. And in order to choose the optimal nonlinear PID controller gaines, we also propose the on-line tuning algorithm of nonlinear functions parameters in immune feedback mechanism. The trained parameters of nonlinear functions are adapted to the variations of the system parameters and any command velocity. And the adapted parameters obtained outputs of nonlinear functions with an optimal control performance.To verify performances of the proposed control systems, the speed control of nonlinear DC motor is performed. The simulation results show that the proposed control systems are effective in tracking a command velocity under system variations.