Recently, lots of works for representing human skills which are cultivated in long experiences have been reported. The technique for representing human skills plays an important role in various industries, for example, manufacturing systems, production systems and process systems. In this paper, a skill-based PID controller is newly proposed, which extracts skills of human experts as PID gains. This controller is designed by using a data-driven(DD) control approach. The DD approach is based on the local modeling, and recently attracted attention as a useful tool to express he nonlinear function. The effectiveness of the proposed skill-based PID control scheme isexperimentally investigated by employing for a pilot-scale helicopter model.