# Pid Controller

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Introduction
A proportional-integral-derivative (PID) controller is one of the most common algorithms used for control systems. It is widely used because the algorithm does not involve higher order mathematics, but still contains many variables. The amount of variables that are used allows the user to easily adjust the system to the desired settings. The algorithm for the PID uses a feedback loop to correct the difference between some measured value and the setpoint. It does this by calculating and outputting some action that will correct this error in the system. A PID controller has a proportional, integral and a derivative control which handles the current, past and predicted future of the signal error. For more information about PID, please refer to PID Intro. The PID controller can operate systems that run in a linear or nonlinear fashion. Tuning processes are done to the controller to tackle the possible nonlinear system. Limitations arise within the system because tuning is limited to only three different parameters (proportional, integral, and derivative controls). Additional information on tuning of PID can be found at [1] or [2]. The most common limitations that occur within the PID control specifically involve the integral control. The following article addresses some of the common limitations faced by each control type, with an emphasis on the integral control, and some solutions to overcome each of these limitations.
Proportional Control
The main purpose of the proportional control is minimize the fluctuations that occur within the system.
Limitations
The P-controller usually has steady-state errors (the difference in set point and actual outcome) unless the control gain is large. As the control gain becomes larger, issues arise with the stability of the feedback loop. For instance, reducing the rise time implies a high proportional gain, and reducing overshoot and oscillations implies a small proportional gain. This is not possible to achieve in

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