[Joohoo]

so I looked around a bit for this and I can't seem to find a way to do this on the multiple white papers that are posted. So my question is, how do I use the proportional and Integral parts of the theory with out the derivative part of it.

I know how to do them individually but have no idea on how to combine ay of these aspects to do anything meaningful.

Thanks in advance for any help that can be provided