We propose in this paper an enhanced FUZZY P+ID controller to improve contr
ol performance in both dynamic transient and steady-state periods for mecha
nical manipulators under uncertainty. The FUZZY P+ID controller adds only t
wo additional parameters to be tuned relative to the original PID controlle
r. One of these parameters is mainly used to reduce a steady-state error. T
he other is used to speed up the dynamic response. A simulation study and e
xperimental results for a two-link manipulator with uncertainty demonstrate
the superior control performance of the proposed FUZZY P+ID controllers.