Integral Control
    Consider integral control as a constant summation function. That is, it is constantly adding up the error from the target speed and providing feedback proportional to the total rather than the error. So in our example, the constant error of even a fraction of a mph will accumulate until at some point the total will be enough to cause effective corrective action. Once again I have to emphasize that integral control on its own will not be enough to control speed within the example already described. Proportional and derivative are still essential ingredients in the mix.

 

   
 

 

 
     
     
     
     
     
     
     
     
                   
   

 

   
       
       
       
       
       

Next: Putting it all together... PID Control

   
   
     
   
   
 

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