“… Produce large initial changes and reduce overshoot. The characteristics of PI and PID controller are very determined by the big contribution of the two parameters for PI controller, that are P and I parameters [3][4], [9], [11][12][13][14][15], and parameters P, I, and D for PID controller [6], . The settings of value on Kp, Ki, and Kd will result in the spike, as shown in Fig.…”