title: How to change url by name instead of id
body: <p>in basic i have a table category like</p>
  
  <pre><code>|id|name    |
  |1 |home    |
  |2 |tutorial|
  ...
  </code></pre>
  
  <p>and table posts like</p>
  
  <pre><code>|id|name           |cateID|
  ...
  |5 |getting started|2
  ...
  </code></pre>
  
  <p><b>1. if i view(click) <code>tutorial</code> in category, then url will be like</b></p>
  
  <pre><code>`index.php/nameOfControllerFile/functionName/2`
  </code></pre>
  
  <p><code>2</code> is id of table category .</p>
  
  <p>But i see all of website i view. it look like</p>
  
  <pre><code>category/tutorials.htm or like category/tutorials/
  </code></pre>
  
  <p><b>2. and if i view <code>getting started</code> Post, then url will be like</b></p>
  
  <pre><code>index.php/nameOfControllerFile/functionName/5
  </code></pre>
  
  <p><code>5</code> is id of table posts.</p>
  
  <p>But i see all of website i view. it look like</p>
  
  <pre><code>category/tutorials/getting-started.htm
  </code></pre>
  
  <p>Here is website like struction <a href="http://line25.com/category/tutorials" rel="nofollow">http://line25.com/category/tutorials</a></p>
  
  <p>How can i change basic url to url like above ? </p>
  
  <p><b>Edit</b></p>
  
  <p>What is heppend if has two posts is the same title like</p>
  
  <pre><code>|id|name           |cateID|
  ...
  |5 |getting started|2
  |8 |getting started|2 
  ...
  </code></pre>