as it requires an error to generate a proportional output. To overcome this the PI controller was devised, which uses a proportional term (P) to remove the gross error, and an integral term (I) to eliminate the residual offset error by integrating the error over time to produce an "I" component for the controller output.

Theory

In the proportional control algorithm, the controller output is proportional to the error signal, which is the difference between

1.Previous
3.Next