A nonlinear design approach is presented to improve the performances of PD controller.
为了提高PD控制器的性能，提出了一种非线性设计方法。
The structure of the fuzzy controller is analytically analyzed and related to the PD controller.
该模糊控制器的结构被解析地分析并与PD控制器相联系。
Fuzzy Neural Network combined with conventional PD controller is used for the kinematics control and a fuzzy rule extraction method is put forward.
采用模糊神经网络结合常规PD控制器的方法来进行机器人的运动控制，提出了提取模糊规则的方法。
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