The conventional method of fuzzy control realizes only nonlinear PI (proportional and integral) control actions and does not have the D (derivative) control action required to effectively improve control performance. Hence, the improvement of control performance is limited. Therefore, in this paper, a method for simple improvement of the PI fuzzy control used conventionally is proposed. The method proposed here improves the control performance simply by combining, in parallel, the conventional PI fuzzy controller with the D control action which is realized by using the fuzzy inference method. Then, based on the simulation results for the first- and second-order lag systems with dead time, the effectiveness of the proposed fuzzy control is shown compared with the conventional PI fuzzy control.