# Differential Gain

Initially as a PI regulator it doesn't reach the reference.

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Now with a PID controller, it still is at 69.99 and 70.

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Increasing Ki to 21 helps it reach reference 70 units/s.

But sometimes small Ki gain hass led to significant(1-2 units) overshoot.

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But even without increasing that,I reached the reference by tuning differential gain when the error was really small as in this case, around 0.01.

Kd=30

v= 69.997 from 69.993

For Kd=50


Velocity reached the reference r=70

So I felt that for small errors, increase in Kd helped reach the reference.