PID Loops

[theNerd]

Originally Posted by Chris27

read this starting at page 23

D refers to a term that is proportional to he derivative of the error.

I refers to a term that is proportional to the integral of the error

I still don't understand to much about the details on how to find the derivative of the error (or the integral). I understand that the derivative of an equation is e.g.: instantaneous velocity, for instance F(x)' 4x^4 = 16x^3 (not pretending anything however I don't know the in depths of the derivatives all i know from second hand learning is the power rule). However my knowledge on integrals is null. How do you find the integral and derivative?