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How to solve PID Equation

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germanbrain common
Hello Friends,
e is 4
previous Error is 5
kp is 0.1
kd is 0.1
ki is 0.1
dt is 0.001
how to apply above value in PID Equation and what is the u(t).
u(t)=kp* e(t) + ki * ∫ e(t) + kd * de(t)/dt
why integral error is called as past error, and Derivative Error is Called as future error, proportional yes i understood its present error we multiplying by kp.
pseudo code
Derivative error is calculated by
Error= (Error-Previous Error)/time --> how this will predict future error
Note: I have little difficulty in understanding calculus

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