In order to eliminate the non-linearity of a grinding auxiliary workpiece table, a hybrid fuzzy PID controller has been developed. The two-dimensional fuzzy control with self-tuning factor is utilized to improve the performance. The Max-Min inference mechanism and COG defuzzification method are used to obtain the crisp output of the fuzzy controller. To eliminate the oscillation at balance position, the conventional PID controller is used in the small range of the error and the switch between two controllers can automatically realize according the preset value. Simulation and experimental testing have been carried out to validate the performance of the hybrid fuzzy PID controller.