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# System prepended metadata

title: Differential Gain

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# Differential Gain
![](https://i.imgur.com/o12CSaL.png)

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


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![](https://i.imgur.com/wIhSz1v.png)

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


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![](https://i.imgur.com/6T4bsTQ.png)

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

But sometimes small Ki gain hass led to significant(1-2 units) overshoot.
![](https://i.imgur.com/I08vR6k.png)


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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
![](https://i.imgur.com/MkfcDx3.png)


v= 69.997 from 69.993

For Kd=50

![](https://i.imgur.com/CRVTFIo.png)

Velocity reached the reference r=70

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