PID Controller Implementation in C

A stable and efficient PID controller with derivative filtering and anti-windup protection.

Features

• Optimized Gains: K_p=1.2, K_i=1.1999, K_d=0.8
• Noise Reduction: First-order derivative filter (N=6)
• Anti-Windup: Prevents integral saturation
• Realistic Simulation: Dynamic plant model included

Results

Comparison of step responses (Simulink vs this implementation)

Data: Time_Plot_Data.txt

Quick Start

1. Compile:

   gcc pid_controller.c -o pid -lm
   

License

Free to use (MIT)