I've had to use the D term recently in a self guided model rocket project. When the rocket had an angle error it needed to point it's thrust to rotate itself b

I've had to use the D term recently in a self guided model rocket project. When the rocket had an angle error it needed to point it's thrust to rotate itself back to 0. There is no built in stopping force that stops the rocket rotating when the thrust is not angled. So a D term was needed in order to take into account how fast the rotation was happening. When it was rotating to 0 degrees of error, it needed that d term to not overshoot. With the d term, the thrust would swing in the opposite direction to prevent it overshooting.