https://turbowarp.org/1234583492/fullscreen?interpolate&hqpen
PID Controller - Proportional, Integral, Derivative Proportional: - scales u(t) (the controller output at time t) by the error in value (e(t)). In this case, e(t) is the difference in position between the current value and the set point (target value). - the farther off from the target, the more it attempts to correct. Integral: - takes a running sum of all past error values. If the error remains high for a long time, the integral term steadily grows until it can overcome this persistent error. - prevents steady-state error (persistent offset from the goal). Derivative: - takes the instantaneous rate of change (can be calculated by e’(t)-e(t) over Δt), which scales against movement. - acts as a resistance value to movement, similar to friction in this simulation.
