I was thinking the same thing. In my class, at no point was it explained why we would want to do this. It was "This is the math for a P controller. Here's some

I was thinking the same thing. In my class, at no point was it explained why we would want to do this. It was "This is the math for a P controller. Here's some homework. Now test. This is the math for a PID controller....". Things didn't click until years later. Looking back, it was a shortcoming in so many classes I took. Actually discussing the problem we were trying to solve adds so much intuition and understanding to the mathematics.