Proportional-Derivative:

Proportional plus rate elaborates a control mode in that a derivative section is added to a proportional controller. That derivative section responds to the rate of modifications of the error signal, not the amplitude; that derivative action responds to the rate of modification the immediate it begins. This causes the controller output to be initially larger in direct relation along with the error signal rate of change. A higher the error signals rate of change, the sooner the last control element is positioned to the desired value. The added derivative action decrease initial overshoot of the measured variable, and thus aids in stabilizing the procedures sooner.

This control mode is known as proportional plus rate (PD) control since the derivative section responds to the rate of change of the error signal.