Yup, and a good implementation that already handles Integral anti-windup, and damps Derivative bump when changing setpoint, variable cycle rates, etc. Here’s a

Yup, and a good implementation that already handles Integral anti-windup, and damps Derivative bump when changing setpoint, variable cycle rates, etc. Here’s a decent implementation in Python: https://github.com/pjkundert/ownercredit/blob/master/pid.py https://github.com/pjkundert/ownercredit/blob/master/pid.py