moat-lib-pid

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An advanced PID controller in Python. It does not require a fixed feed rate, supports anti-windup, and contains an optional first-order filter for the derivative term.

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This module was vendorized from the advanced-pid module by Erkan Adali erkanadali91@gmail.com.

MoaT improvements include

• a CPID subclass with a settable reference
• saving internal state, for crash recovery and rebooting
• introspection

Usage

Usage is very simple:

from moat.lib.pid import PID

# Create PID controller
pid = PID(Kp=2.0, Ki=0.1, Kd=1.0, Tf=0.05)

# Control loop

reference = 1.0

while True:
    # Get current measurement from system
    timestamp, measurement = system.get_measurement()

    # Calculate control signal by using PID controller
    control = pid(reference - measurement, t=timestamp)

    # Feed control signal to system
    system.set_input(control)

The package's examples includes a toy mass-spring-damper system model for testing.

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License

Licensed under the MIT License.