Integral function Controller output is proportional to error e duse→l= soled dt Output of I control is constant only e=0, no steady state error Reduce system stability. i control is always slower than that of p control Open loop gain is proportional to So, increase So In reduce system stabilityIn     t S e u S edt dt du 0 0 0 Integral Function Controller output is proportional to error e. • Output of I control is constant only e=0, no steady state error. • Reduce system stability. I control is always slower than that of P control, • Open loop gain is proportional to S0 , increase S0 reduce system stability