@anthomtb, Oh I get it now! You’re right, and your analogy is better than mine from a physical perspective. A bike suspension really is just a PD controller wit

@anthomtb, Oh I get it now! You’re right, and your analogy is better than mine from a physical perspective. A bike suspension really is just a PD controller with independently adjustable D coefficients, depending on sign. Maybe it’s valuable to think of suspension pack-down and controller drift as the same problem, or maybe not. They have similarities, but they’re not the same problem. My thinking of the I term as preventing pack-down is perhaps the main justification for saying a PID controller is like a suspension. But, on a real bike, packdown is being solved by the spring (P) and tuning the rebound (D), and drift isn’t something that happens.