Design of a Discrete PID Controller for a DC Motor 
Q1. What does PID stand for in a PID controller?
Q2. What is the effect of the derivative term in a PID controller?
Q3. Which type of error is minimized by the integral action of a PID controller?
Q4. What is the transfer function of a standard PID controller?
Q5. In the PID controller, which component is responsible for increasing the system response speed?