simple-pid

import time from simple_pid import PID # A dummy controlled system for demonstration class ControlledSystem: def __init__(self, initial_value=0.0): self.value = initial_value self.time_step = 0.1 def update(self, control_input): # Simulate system response, e.g., a simple first-order system self.value += (control_input - self.value) * (self.time_step * 0.5) return self.value # Initialize PID controller: Kp, Ki, Kd, setpoint # Here, a setpoint of 10 is desired. pid = PID(2.0, 0.5, 0.2, setpoint=10.0) # Configure PID parameters pid.sample_time = 0.1 # Update every 0.1 seconds pid.output_limits = (-10, 10) # Limit output to avoid integral windup # Initialize the controlled system system = ControlledSystem(initial_value=0.0) print(f"Initial system value: {system.value:.2f}") # Run the control loop for a few iterations for i in range(100): # Compute new output from the PID according to the system's current value control_output = pid(system.value) # Feed the PID output to the system and get its current value system_value = system.update(control_output) # Optional: Print current state if i % 10 == 0: print(f"Iteration {i}: Setpoint={pid.setpoint:.2f}, System Value={system_value:.2f}, Control Output={control_output:.2f}") time.sleep(pid.sample_time) print(f"Final system value: {system.value:.2f}") # Expected output will show the system value approaching 10.0