PID Go

PID controllers for Go.

Examples

pid.Controller

A basic PID controller.

import (
	"fmt"
	"time"
"go.einride.tech/pid" )
func ExampleController() { 	// Create a PID controller. 	c := pid.Controller{ 		Config: pid.ControllerConfig{ 			ProportionalGain: 2.0, 			IntegralGain:     1.0, 			DerivativeGain:   1.0, 		}, 	} 	// Update the PID controller. 	c.Update(pid.ControllerInput{ 		ReferenceSignal:  10, 		ActualSignal:     0, 		SamplingInterval: 100 * time.Millisecond, 	}) 	fmt.Printf("%+v\n", c.State) 	// Reset the PID controller. 	c.Reset() 	fmt.Printf("%+v\n", c.State) 	// Output: 	// {ControlError:10 ControlErrorIntegral:1 ControlErrorDerivative:100 ControlSignal:121} 	// {ControlError:0 ControlErrorIntegral:0 ControlErrorDerivative:0 ControlSignal:0} }

\Reference ≫\

pid.AntiWindupController

A PID-controller with low-pass filtering of the derivative term, feed forward term, a saturated control output and anti-windup.

Reference ≫

pid.TrackingController

a PID-controller with low-pass filtering of the derivative term, feed forward term, anti-windup and bumpless transfer using tracking mode control.

Reference ≫