<p>This paper presents the design and application of an ultra-local model-free (MF) controller and a self-tuning MF fuzzy controller for level control in a coupled two-tank system. The ultra-local MF control law consists of two essential components: a MF nonlinearity compensator, intended to handle unmodeled dynamics based on an algebraic differentiator, and a feedback controller, which is designed to maintain system stability. The introduction of a self-tuning MF fuzzy controller further enhances the system’s performance by dynamically adjusting feedback controller gains in real time. This adaptive approach, leveraging fuzzy logic, ensures optimal control across a wide range of operating conditions, making it particularly suitable for complex and uncertain environments. Experimental validation of the proposed controllers is conducted using a hydraulic system, demonstrating the effectiveness of both the MF controller and the self-tuning MF fuzzy controller in regulating the liquid level in the second tank. The results show that the self-tuning MF fuzzy controller outperforms the fixed-gain MF controller.</p>