Note that if you are not familiar with control systems, a "P" controller (Proportional) multiplies an error by a constant to get a corrective control signal, where the error is the difference between the measured behavior and the desired behavior. I suggest starting with a P controller. A PI controller also integrates the error and multiplies that integrated signal by a constant. It adds the result to the P controller's corrective signal to get a better corrective signal. You can determine the constants by experimentation.
142605719903/10/201511:59pm
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