PID P-Only Controller Introduction

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An advantage of P-only control is that it is simple to tune and is a good option for integrating systems. The drawback with P-only controllers is that there is often persistent offset of the process variable away from the desired set point.
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why do we have to subtract derivative term ?

saeed
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Hello. Thanks for making this video. Why won't the P-only control have an offset for an integrating system?

aireenchoo
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Can you Explain why the offset cannot be eliminated ?

taharehmansiddiqui