pid.c

Standard form discrete PID controller implementation using the incremental (velocity) algorithm for embedded systems in C

Summary

This package contains files (pid.h and pid.c) to implement a simple PID controller.

Features

• Full PID implementation using the standard form (i.e. Kp, Ti, Td)
• Derivative kick attenuation via applying a low-pass filter to the error signal
• Control signal anti-windup
• Statically allocated memory

Integration details

• Integrate pid.h and pid.c files into your project.
• Include the pid.h header file in your code like below.

#include "pid.h"

File information

• pid.h : This header file contains the definitions of the user API.
• pid.c : This source file contains the implementation of the PID.

References

• Discrete-time PID controller
• PID Control
• Review of PID control design and tuning methods
• Lecture 8: From Analog to Digital Controllers, PID Control
• PID Controllers
• Arduino-PID-Library
• The practical aspects of PID control