What Are the Merits of Options to avoid a Kick on a Setpoint Change Tips?

The PID structures with proportional on error cause a step change in the PID output for a large setpoint change. For structures with derivative on error there is also a sharp bump almost looking like a spike unless you zoom in. The question is whether these abrupt changes are beneficial and if detrimental what can be done to make the initial response of the PID output smooth. The solution involves intelligent choices of PID structure and tuning.

read more