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<a href="#pub-attribs">Data Fields</a> </div>
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<div class="title">pid Struct Reference</div> </div>
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<p>PID Controller.
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<a href="../../d0/d43/structpid.html#details">More...</a></p>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
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Data Fields</h2></td></tr>
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<tr class="memitem:a5a7b54866748e12568f9b9599b31f8eb"><td class="memItemLeft" align="right" valign="top"><a id="a5a7b54866748e12568f9b9599b31f8eb"></a>
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float </td><td class="memItemRight" valign="bottom"><b>kP</b></td></tr>
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<tr class="separator:a5a7b54866748e12568f9b9599b31f8eb"><td class="memSeparator" colspan="2"> </td></tr>
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float </td><td class="memItemRight" valign="bottom"><b>kI</b></td></tr>
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float </td><td class="memItemRight" valign="bottom"><b>kD</b></td></tr>
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float </td><td class="memItemRight" valign="bottom"><b>lastError</b></td></tr>
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float </td><td class="memItemRight" valign="bottom"><b>integral</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>PID Controller. </p>
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<p>The PID controller is a linear control algorithm that has three terms:</p><ul>
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<li>Proportional: A simple scaling of the error value by a gain kP</li>
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<li>Integral: Integration of the error value over time, then multipled by gain kI</li>
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<li>Derivative: Rate of change of the error value over time, multiplied by gain kD</li>
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</ul>
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<p>Terms of the controller can be removed by setting their gain to 0, creating a PI (kD = 0) or PD (kI = 0) controller. Depending on the control problem at hand, some terms may not increase the performance of the system, or may have a negative effect.</p>
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<p>For a more mathematical expanation of the PID Controller, see <a href="https://en.wikipedia.org/wiki/PID_controller">https://en.wikipedia.org/wiki/PID_controller</a></p>
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<p>Limitations of this implementation:</p><ul>
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<li>Since this implementation is just for demonstration, the pid_step function takes the dt as a parameter, and it can be provided by the user in <a class="el" href="../../dd/d93/client_8c.html#ae66f6b31b5ad750f1fe042a706a4e3d4" title="Driver code.">main()</a>. This allows deterministic experimentation with the algorithm, rather than using time(NULL) which would make the function non-deterministic.</li>
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</ul>
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<p>Inputs: e(t) - Current error at time t. For example, how far a servo is off the desired angle Output: u(t) - Controller output at time t. </p>
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</div><hr/>The documentation for this struct was generated from the following file:<ul>
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<li>misc/pid.c</li>
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