Proportional Integral Controller is a control device that serves to eliminate the position error in steady state (steady position error). This controller is combination of proportional and integral control device that works in accordance with its corresponding respectively. Proportional controller performs lifting spontaneously while integral controller makes changes that increase gradually depending on the amount of time. Proportional Integral controller instrument type is shown in Figure 1 below.
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| Figure 1: Proportional Integral Controller |
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