Class PIDController

Proportional-Integral-Derivative controller for smooth value regulation. Used for automated control systems like cruise control, stability systems, and steering assistance.

Inheritance
object
PIDController
Namespace: NWH.Common.Utility
Assembly: NWH.Common.dll
Syntax
public class PIDController
Remarks

PID controllers combine three control strategies:

  • Proportional: Reacts to current error
  • Integral: Eliminates accumulated error over time
  • Derivative: Anticipates future error based on rate of change Tune the three gain values to achieve desired response characteristics.

Constructors

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PIDController(float, float, float, float, float)

Creates a new PID controller with specified gains and output limits.

Declaration
public PIDController(float gainProportional, float gainIntegral, float gainDerivative, float outputMin, float outputMax)
Parameters
Type Name Description
float gainProportional

Proportional gain (Kp). Higher values increase response to current error.
float gainIntegral

Integral gain (Ki). Higher values eliminate steady-state error faster.
float gainDerivative

Derivative gain (Kd). Higher values dampen oscillations.
float outputMin

Minimum output value.
float outputMax

Maximum output value.

Fields

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maxValue

Maximum output value. Output will be clamped to this value.

Declaration
public float maxValue
Field Value
Type Description
float
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minValue

Minimum output value. Output will be clamped to this value.

Declaration
public float minValue
Field Value
Type Description
float

Properties

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GainDerivative

The derivative term is proportional to the rate of change of the error

Declaration
public float GainDerivative { get; set; }
Property Value
Type Description
float
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GainIntegral

The integral term is proportional to both the magnitude of the error and the duration of the error

Declaration
public float GainIntegral { get; set; }
Property Value
Type Description
float
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GainProportional

The proportional term produces an output value that is proportional to the current error value

Declaration
public float GainProportional { get; set; }
Property Value
Type Description
float
Remarks

Tuning theory and industrial practice indicate that the proportional term should contribute the bulk of the output change.

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IntegralTerm

Adjustment made by considering the accumulated error over time

Declaration
public float IntegralTerm { get; }
Property Value
Type Description
float
Remarks

An alternative formulation of the integral action, is the proportional-summation-difference used in discrete-time systems

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ProcessVariable

The current value

Declaration
public float ProcessVariable { get; set; }
Property Value
Type Description
float
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ProcessVariableLast

The last reported value (used to calculate the rate of change)

Declaration
public float ProcessVariableLast { get; }
Property Value
Type Description
float
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SetPoint

The desired value

Declaration
public float SetPoint { get; set; }
Property Value
Type Description
float

Methods

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ControlVariable(float)

The controller output

Declaration
public float ControlVariable(float timeSinceLastUpdate)
Parameters
Type Name Description
float timeSinceLastUpdate

timespan of the elapsed time since the previous time that ControlVariable was called
Returns
Type Description
float

Value of the variable that needs to be controlled