Editing Proportional–integral–derivative controller (section)

===Setpoint step change===
The proportional and derivative terms can produce excessive movement in the output when a system is subjected to an instantaneous step increase in the error, such as a large setpoint change. In the case of the derivative term, this is due to taking the derivative of the error, which is very large in the case of an instantaneous step change. As a result, some PID algorithms incorporate some of the following modifications:

;Setpoint ramping
:In this modification, the setpoint is gradually moved from its old value to a newly specified value using a linear or first-order differential ramp function. This avoids the [[discontinuity (mathematics)|discontinuity]] present in a simple step change.
;Derivative of the process variable
:In this case the PID controller measures the derivative of the measured PV, rather than the derivative of the error. This quantity is always continuous (i.e., never has a step change as a result of changed setpoint). This modification is a simple case of setpoint weighting.
;Setpoint weighting
:Setpoint weighting adds adjustable factors (usually between 0 and 1) to the setpoint in the error in the proportional and derivative element of the controller. The error in the integral term must be the true control error to avoid steady-state control errors. These two extra parameters do not affect the response to load disturbances and measurement noise and can be tuned to improve the controller's setpoint response.