this is pretty simple problem, I suggest you to study the sine and cosine functions well, and you will find that sin(pi) = 0 and cos(pi)=-1
Then sin(pi)-0.3*cos(pi)=0.3
0 + 0.3 = 0.3
P stands for Proportional, I stands for integral and D stand for derivative.
The P part determines the reaction to the current error, the I part reacts to the sum (integral) over recent errors, and the D term determines how to react to the change in current errors. Can easily be remembered from...