“…The controller attempts to minimize the error by adjusting the process control inputs. [1][2][3][4][5][6][7][8] The PI controller calculation (algorithm) involves three separate constant parameters, and is accordingly sometimes called three-term control: the proportional, the integral and derivative values, denoted P and I. Heuristically, these values can be interpreted in terms of time: P depends on the present error, I on the accumulation of past errors, and derivation is a prediction of future errors, based on current rate of change. The weighted sum of these three actions is used to adjust the process via a control element such as the position of a control valve, a damper, or the power supplied to a heating element.…”