D - Part in PID doesn't impact steady state error?

Question

Why does the D-part in a PID controller not do any impact on the steady state error. I mean if tries to resist changes, should it not then make it stay at wanted configuration?

Answer 1

If the steady state error is nonzero but settles down then the derivative is zero hence no correction. That's why there is always, though small, integral action added in the controller. Such that when it builds up, the system is forced to return to the designated reference.