0-1 ~ 0-3

1-1 ~ 1-9

2-1 ~ 2-4

    u(t) = Kp * e(t)    error = setpoint - processValue;
                        output = K * error;

    u(t) = Kp * e(t) + Kt*∫e(t)dt           error: = setpoint - processValue;
    u(t) = Kp * e(t) + Ki*∑e(t)             Reset: = Reset + K/tau_i + Reset;
    u(t) = Kp * e(t) + Kt*∑{(K/†i)*e(t)}    output: = K * Error + Reset;

    u(t) = Kp * e(t) + Kd * de(t)/dt
    u(t) = K * [e(t) + 1/†d * de(t)/dt]
    u(t) = K * e(t) + K / †i * ∆e(t)        Error : = setpoint - processValue;

                                            output: = K * Error + K/tau_i * (Error - LatError);

                                            LastError := Error; // save for next scan

    u(t) = Kp * e(t) + Kt*∫e(t)dt + Kd * de(t)/dt

    Output = Proportional + Integral + Derivative
    Output = error now + errors past + error future