[dheerm]

Originally Posted by Ether

Much better :-)



It's not similar for the other terms. The I term can be non-zero at the setpoint. In fact, that's one of the purposes for the I term, to provide a non-zero output at the setpoint (if required).



Yes, feedforward is one way to address that issue.

Another is to use the I term, when controlling speed, like you would use the P term when controlling position.

Yet another is to integrate the output of the PID.

What do you mean by integrate the output? I take calculus and know the concepts behind PID but this wording is confusing me a bit. Could you please provide an example?