Class Pid

Holds a value at a setpoint by trading off present, past, and predicted error.

public sealed class Pid : IDisposable

Inherited Members: object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.ReferenceEquals(object, object)

object.ToString()

Remarks

This is the controller behind holding a temperature, a pressure, or a speed steady against a load that keeps changing.

Creates a controller with the given gains and no output limits.

public Pid(float kp, float ki, float kd)

Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources.

public void Dispose()

Clears the accumulated integral, the last error, and the last output.

public void Reset()

Advances the controller by one step.

public float Update(float setpoint, float measurement, float dt)

setpoint float: The value being held.
measurement float: The latest measured value. A setpoint or measurement that is not a finite number is ignored, and the previous output returned.
dt float: The time since the previous step, in the unit the integral and derivative gains assume. One at or below zero skips the integral and derivative.

Creates a controller whose output is clamped to a range.

public static Pid WithLimits(float kp, float ki, float kd, float min, float max)

kp float: The proportional gain, reacting to present error.
ki float: The integral gain, correcting accumulated error.
kd float: The derivative gain, damping predicted error.
min float: The lowest output the controller may command; NegativeInfinity leaves the low side open.
max float: The highest output the controller may command; PositiveInfinity leaves the high side open.