Quote:
Originally Posted by Mr. Lim
Killing the I term when the setpoint has been reached is commonly employed in position control - particularly in systems where there is a lot of resistance as you slowly reach your desired position. When you are finally reach the setpoint, your P is already 0, and it's in your best interests to 0 the I term
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OK, I can see doing that if trying to position a plant with no load, or with a friction load that exceeds other load forces.
But if you are are trying to hold position against an external load, and you zero the I term when you reach the target, then the position will change and the controller will have to re-seek the target.