I am confused about how adding a D (which adds a zero to the complete system) decreases the speed of the system. But when we normally add a zero to the system, it causes the system to overshoot.
The same goes for the I part of the PID. Normally when we add a pole to the system, it has less overshoot, but at the same time the integrator increases the overshoot!
How can I make sense out of this inverse relation?