This paper presents the comparison of tracking performance of fuzzy PD controller with conventional controller to control PMDC Motor which employs only two fuzzy sets on the universe of discourse of each input variable and three fuzzy sets on the universe of discourse of output variable. Analytical structure of the simplest fuzzy PD controller is derived via triangular membership functions for fuzzification, Zadeh OR, mamdani's minimum inference method, and centroid method for defuzzification. The effectiveness of fuzzy PD controller over the conventional controller is shown for Permanent Magnet DC Motor with saturation nonlinearity by choosing gbell, trapezoidal, pi, Gaussian, triangular input fuzzy sets.

Keywords: Analytical Structure, Fuzzy control, Permanent MagnetDCMotor, PID control.