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 ≫