PID controller
Also: proportional-integral-derivative controller
A feedback rule combining present, accumulated, and changing error.
u = Kp e + Ki∫e dt + Kd de/dt, implemented with sampling, filtering, limits, and anti-windup.
- Formula
u = Kp e + Ki∫e dt + Kd de/dt
Example Integral action removes a steady load offset when adequate authority remains.
Common misconception Larger gains do not always improve response and PID does not replace plant limits.