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 ≫