Pseudo-derivative feedback with feed-forward gain (PDFF) combines the advantages of proportional-integral (PI) and pseudo-derivative feedback (PDF) controllers. However, PDFF responds more slowly to a command than does PI. To increase the speed of response of the PDFF controller, this work presents a PDFF with moving average errors control. A low-pass IIR filter path for errors compensation that accelerates the slow response is added to a PDFF control loop. A fuzzy inferencer is utilized to adjust the feed-forward gain and integral gain of the PDFF controller to allow closed-loop poles of the transfer function to be properly placed to improve load torque disturbance rejection capability. Simulated and experimental results reveal that the response and load disturbance rejection ability of the fuzzy PDFF-IIR controller are better than those of the traditional PDFF controller.