The value ofubcan be ?

xed at a constant level (usually at (umax+umin)/2) or can

be adjusted manually until the steady-state error is reduced to zero. It is wort
h noting that in commercial products the proportional gain is often replaced by
the proportional bandPB , that is the range of error that causes a full range ch
ange of the control variable,i.e.,
PB=100 Kp. (1.5) 1.4.2 Integral Action The integral action is proportional to th
e integral of the control error,i.e., it