Mitsubishi Electric F700 Instruction Manual page 211

(2) PID action overview
1) PI action
A combination of P action (P) and I action (I) for providing a
manipulated variable in response to deviation and changes with time.
[Operation example for stepped changes of measured value]
(Note) PI action is the sum of P and I actions.
2) PD action
A combination of P action (P) and differential control action (D) for
providing a manipulated variable in response to deviation speed to
improve the transient characteristic.
[Operation example for proportional changes of measured value]
(Note) PD action is the sum of P and D actions.
3) PID action
The PI action and PD action are combined to utilize the advantages of both
actions for control.
(Note) PID action is the sum of P, I and D actions.
Special operation and frequency control
Deviation Set point
P action
I action
PI action
Set point
Measured value
P action
D action
PD
action
Set point
Measured value
P action
I action
D action
PID action
Measured value
Time
Time
Time
Deviation
Time
Time
Time
Deviation
Time
Time
Time
Time
203
4