PID Equation

The PID controller equation is built around 3 constants, the proportional, integral, and derivative coefficient. Each of these constants can be adjusted to achieve a desired control response.

• u(t) - Output
• e(t) - Error Value
• Kp - Proportional constant that accounts for the present error value. If the current error is large and positive, the output will be large and positive
• Ki - Integral constant that accounts for historical error values. If the output is not strong, the error will accumulate, and the controller will respond by increasing the output.
• Kd - Derivative constant that accounts for future error values. This term attempts to predict what the error will be in the future, and adjusts accordingly.