Discussion
A PI controller increases :
Answer: D
A PI controller increases the type and order of the system by 1.
A PI controller has the transfer function
\[ \begin{aligned} G_{c}(s) &= K_{p} + \frac{K_{i}}{s} \\ &= \frac{K_{p}s + K_{i}}{s} \end{aligned} \]
It adds a pole at the origin and a zero. The extra pole at the origin raises the type of the system by 1, which is why integral action removes the steady state error to a step. The extra pole also raises the order of the characteristic equation by 1.
Options naming only the type or only the order are each half of the effect, and the option saying both decrease has the effect backwards.
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