= PID controller
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{title2=$u(t)=k_pe(t)+k_i\int_0^t e(\tau)\,d\tau+k_d\dot e(t)$}
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An ideal <PID controller> combines <proportional control>, <integral action>, and a term proportional to the <derivative> of the <tracking error>. With $k_d=0$, it gives <proportional-integral control>. The <integral> stores past error, while the <derivative> responds to its current rate of change. Practical implementations must account for <measurement noise>, which an ideal differentiator can amplify. https://www.fbswiki.org/wiki/index.php/PID_Control[Åström and Murray, PID Control]{ref}.
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