Integral Action

Wiping out the leftover error

An interactive lesson with 6 steps, about 5 minutes: you predict, drag and solve, with instant feedback on every answer. It runs in your browser and needs JavaScript.

What you’ll learn

• The integral term adds up error over time and removes steady-state error.
• Too much integral action causes overshoot.
• Windup: the integral can grow too large while the actuator is maxed out.

Steps

1. Remembering the past
2. Back to 90
3. Quick but no overshoot
4. Adding up the error
5. Integral windup
6. What the integral holds