The only way to eliminate steady -state error after a system disturbance is to add equal amounts of integral and derivative action to a proportional controller.

Question

Quizplus · Accepted Answer

Adding integral action to a proportional controller can eliminate steady-state error by integrating the error over time, but derivative action is not necessary for this purpose and serves to improve system stability and response time rather than eliminating steady-state error.

The Only Way to Eliminate Steady -State Error After a System