Abstract: Taking hydraulic simulator outer gimbal as controlled object, direct adaptive fuzzy controller(DAFC) and synchronizing fuzzy controller(SFC) for outer gimbal to resolve disturbance from load and synchronizing drive of dual hydraulic motors, which are primary factors affected on the performance of hydraulic simulator outer gimbal, were presented, based on employing fuzzy control theory. Adaptive fuzzy controller was combined with PID controller to compose parallel control system, which was aimed at reducing static error and suppressing dynamic disturbance of the whole system. Since the deficiency of poor ability of self-learning of fuzzy controller, fuzzy neural net(FNN) controllers for multi-input multi-output(MIMO) system were induced to the above two fuzzy controllers to resolve these problems. Simulation results of FNN controllers show that the proposed approach can achieve high displacement tracking accuracy and dynamic performance when the loads of the simulator are changeable or two hydraulic motors’ rotate speeds are different greatly.