Last modified: Jun, 2014
The most widely used controller is probably the proportional-integral-derivative (PID) controller. The system can be understood with the transfer function
The overall properties of P, I and D can be summarized as follows:
|tracking error||non-zero, but can be close||zero||no tracking|
|disturbance rejection||non-zero, but can be close||zero||no|
|stability||always stable for Kp>0||can be unstable||always stable for Kd>0|
So I is better for tracking and disturbance rejection, while P and D are more for stability.