The PID Controller The PID controller is a three-term controller consisting of the Proportional (P), Integral (I) and

Derivative (D) terms. The transfer function of the PID controller is given by:
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( )

The Proportional (P) controller takes the errors between the set point and the process output and is multiplied by a proportional gain constant, Kp. The output that the controller gives is proportional to the size of the error. A high Kp results in a decrease in rise time and an increase in overshoot. The system will become more oscillatory. The integral (I) controller integrate the errors between the set point and the process output with respect to time. The integrated error is multiplied by the integral gain, Ki.. The output that the controller gives is proportional to the integrated errors. The I controller serve to eliminate offsets from the set point. Also, a high Ki results in a decrease in rise time but an increase in overshoot. The Derivative (D) controller takes the rate of change of errors over time between the set point and the process output and is multiplied by the derivative gain, Kd. The output that the controller gives is proportional to the derivative of the error. A high Kd decreases overshoot and settling time. However, the derivative term has a poor response to noise as the corrective effort done was due to predicted errors.