Berserkers are the first Centaurion-type foe you will meet. They will start the battle off by pausing to forge a Centaurion Blade (unless you gain a preemptive strike and immediately stagger them). The Blade isn't terribly tough, but can dish out a lot of damage if left alone, so your goal is to kill it and then stagger the Berserker to finish it off before it can create another. Buffs and Debuffs will serve you well, because this will be a long fight. Note that the Blade dies with the Berserker, so if it creates one when almost dead, don't bother to destroy it before finishing the Centaurion off.