P.I.D. Loop

["Pete Cook" <pete.cook-at-alltracorp.com>]

Got this info from Designing With Motion Handbook by Charles Raskin, PE Nov
1994

P or Proportional Gai = (Kp) (error)

It compensates for immediate changes in servo position error position.

I or Integral Gain = (Ki) (Last Error Total +- New Error)

Compensates for following error as the move progresses.

D or Derivative Gain = (Kd) (Error - Previous error)

Compensates for the error in the last update period. Compensates for changes
in load or direction.

Hope this helps water down the mud...

Pete