Module pid 

PID Control Logic

This module implements a standard Proportional-Integral-Derivative (PID) controller with integrated safety features for real-time systems.

Implementation Details

• Parallel Form: The output is the sum of $P$, $I$, and $D$ components.
• Anti-Windup: Clamping is applied to the integral accumulator to prevent saturation during prolonged error states.
• Time Step Robustness: Protects against $dt \le 0$ to ensure mathematical stability on embedded systems.

Structs

PidConfig

Configuration parameters for a PID controller.

PidController

A stateful PID controller.