Integral (I) Control is a control method in which the controller output is proportional to the accumulated error over time. It is expressed as u(t) = Ki ∫e(t)dt, where u(t) is the controller output, e(t) is the error, and Ki is the integral gain. By continuously accumulating past errors, integral control can eliminate or significantly reduce steady-state error, making the system more accurate. However, excessive integral gain can cause overshoot, oscillations, and slower settling.
Integral (I) Control Simulation
Adjust the integral gain Ki and observe how accumulated error changes the controller output and system response.
What to Observe
The integral controller continuously adds the error to an accumulated integral value. When the output is below the setpoint, the error is positive and the integral term increases, pushing the output upward.
Try a small Ki value first. The response will approach the setpoint gradually. Then increase Ki. The accumulated error becomes stronger, producing a faster response but potentially causing overshoot and oscillation.