The automatic operation is important for the in-service inspection of the operating nuclear power station or the decommission of retired plants. The master & slave control will be introduced for work-robot control. It is desirable that the slave involves the capability of problem solving. This paper assumed that the slave involved the general problem solver algorithm. In view of having solved the puzzle of the "monkey & banana", the slave system is regarded as the reasonable alternative which incorporates the capability of problem solving. Basically, the GPS solved a problem by reducing the difference between an initial state and a goal state, and hence the performance of GPS depends on selecting the difference to be reduced. The usual GPS is given in advance the ordering which indicates the importance of the differences. In this paper, the GPS was improved by making use of the rules which decide the order. When several choices are found on the given difference, the fuzzified decision to determine the action is demonstrated in this paper.