bvtvusn / Arduino_PID_BV

PID controller library for Arduino. Integral windup is prevented through backcalculating integral size. PID parameters are defined as: Kp = controller gain, Ti = integral time [s], Tc = Derivative time [s]

Arduino_PID_BV

Library for PID controller for arduino

PID controller formula

$$u = u_0 + K_pe+\frac{K_p}{T_i}\int_{0}^{t}ed\tau +K_pT_d\frac{de}{dt}$$