One of the simplest and popular control laws out there
Proportional
- Minimises current error
- If our gain is 1, then we will essentially have a bang-bang control
- If our gain is 0, then we will be apply no effort to adjust
Integral
- Correct for accumulating error (in the past)
- Integral windup - when the error accumulates on one side of the curve and compensation is needed on the other
- solution:
- moving window (only consider the most recent horizon)
- discounted/weighted (weigh past terms less)
Derivative
