ZiPID

PID controller implementation in ZIG

Supports integral clamping and overflow protection

Usage

var pid: ziPID = .{ .proportional = 1.0, .integral = 0.1, .derivative = 1.0 };
const deviation = -0.4; // control value -4/10th measurement units away from target/setpoint
const delta = 16e-3;    // ~60 times per time unit
const output = pid.advance(deviation, delta);

Testing

Go to sources/zipid.tests.zig