Answer / rajkumar

A proportional controller (Kp) will have the effect of
reducing the rise time and will reduce ,but never eliminate,
the steady-state error. An integral control (Ki) will have
the effect of eliminating the steady-state error, but it may
make the transient response worse. A derivative control (Kd)
will have the effect of increasing the stability of the
system, reducing the overshoot, and improving the transient
response.


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http://www.engin.umich.edu/group/ctm/PID/PID.html

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