How does a PID controller respond to a step change in setpoint?

How does a PID controller respond to a step change in setpoint?

• A. The controller saturates the output immediately to the maximum and holds.
• B. The controller reacts with proportional action, accumulates integral to reduce offset, and uses derivative to dampen overshoot; typical response includes brief overshoot and settling to the new setpoint.
• C. The controller ignores setpoint changes unless there is a disturbance.
• D. The controller uses only proportional action, with no integral or derivative.

Answer: (B)