# PID

**Repository Path**: imbit_mathmhb/PID

## Basic Information

- **Project Name**: PID
- **Description**: No description available
- **Primary Language**: C
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-01-10
- **Last Updated**: 2026-01-10

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# PID
PID controller implementation written in C.
 
Note on 'derivative-on-measurement': Since the 'error signal' effectively going into the differentiator does not depend on the setpoint: e[n] = 0 - measurement, and therefore (e[n] - e[n - 1]) = (0 - measurement) - (0 - prevMeasurement) = -Kd * (measurement - prevMeasurement). (Note the minus sign compared to derivative-on-error!)
I've included the minus sign in the code, so gains will have the effect as normal.