I'm learning about PID controllers and one thing I don't quite understand from the pseudocode and formulas is the apparent persistence of the "Integral" portion.
For example, imagine the position is low and is adjusted with minimal oscillation to reach the set point. At that point however, the "Integral" will be low because of the duration of time spent low, and will forever stay low, thereby forcing the system to eventually compensate by overcorrecting and staying "high" for a period of time.
I feel like it would be appropriate to "reset" it when the system stabilizes or have an ongoing dampening process which slowly dampens it to zero.
Does that make sense or is there something I have misunderstood?