¹To illustrate, self-regulating processes require significant integral action from a controller in order to avoid large offsets between PV and SP, with minimal proportional action and no derivative action. Integrating processes, in contrast, may be successfully controlled primarily on proportional action, with minimal integral action to eliminate offset. Runaway processes absolutely require derivative action for dynamic stability, but derivative action alone is not enough: some integral action will be necessary to eliminate offset. Even if knowledge of a process’s dominant characteristic does not give enough information for us to quantify P, I, or D values, it will tell us which tuning constant will be most important for achieving stability.