Compare Integral controller with derivative controller.
Integral controller
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Derivative controller
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Output of integral controller is proportional to integration of error signal
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Output of Derivative controller is proportional to time derivative of error signal
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For constant error integral output increases with time
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For constant error derivative output is zero
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It improves steady state performance
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Improves dynamic performance.
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Sudden disturbance will not cause any integral action
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Sudden disturbance saturates derivative output
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Noise insensitive
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Noise sensitive and may cause unnecessary control action.
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