https://github.com/einride/pid-go

PID controllers for Go.
https://github.com/einride/pid-go

autonomous-vehicles control-systems go golang pid pid-control pid-controller

Last synced: about 2 months ago
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PID controllers for Go.

• Host: GitHub
• URL: https://github.com/einride/pid-go
• Owner: einride
• License: mit
• Created: 2020-12-22T18:04:40.000Z (over 4 years ago)
• Default Branch: master
• Last Pushed: 2025-05-12T21:29:14.000Z (about 2 months ago)
• Last Synced: 2025-05-13T01:13:55.594Z (about 2 months ago)
• Topics: autonomous-vehicles, control-systems, go, golang, pid, pid-control, pid-controller
• Language: Go
• Homepage: https://pkg.go.dev/go.einride.tech/pid
• Size: 182 KB
• Stars: 96
• Watchers: 16
• Forks: 6
• Open Issues: 4
• Metadata Files:
  • Readme: README.md
  • License: LICENSE
  • Code of conduct: CODE_OF_CONDUCT.md
  • Codeowners: .github/CODEOWNERS
  • Security: SECURITY.md

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README

        
# PID Go

[![PkgGoDev](https://pkg.go.dev/badge/go.einride.tech/pid)](https://pkg.go.dev/go.einride.tech/pid)

[![GoReportCard](https://goreportcard.com/badge/go.einride.tech/pid)](https://goreportcard.com/report/go.einride.tech/pid)

[![Codecov](https://codecov.io/gh/einride/pid-go/branch/master/graph/badge.svg)](https://codecov.io/gh/einride/pid-go)



  



PID controllers for Go.

## Examples

### `pid.Controller`

A basic PID controller.

```go

import (

	"fmt"

	"time"

	"go.einride.tech/pid"

)

func ExampleController() {

	// Create a PID controller.

	c := pid.Controller{

		Config: pid.ControllerConfig{

			ProportionalGain: 2.0,

			IntegralGain:     1.0,

			DerivativeGain:   1.0,

		},

	}

	// Update the PID controller.

	c.Update(pid.ControllerInput{

		ReferenceSignal:  10,

		ActualSignal:     0,

		SamplingInterval: 100 * time.Millisecond,

	})

	fmt.Printf("%+v\n", c.State)

	// Reset the PID controller.

	c.Reset()

	fmt.Printf("%+v\n", c.State)

	// Output:

	// {ControlError:10 ControlErrorIntegral:1 ControlErrorDerivative:100 ControlSignal:121}

	// {ControlError:0 ControlErrorIntegral:0 ControlErrorDerivative:0 ControlSignal:0}

}

```

\_[Reference ≫](https://en.wikipedia.org/wiki/PID_controller)\_

### `pid.AntiWindupController`

A PID-controller with low-pass filtering of the derivative term, feed forward

term, a saturated control output and anti-windup.

*[Reference ≫](http://www.cds.caltech.edu/~murray/amwiki)*

### `pid.TrackingController`

a PID-controller with low-pass filtering of the derivative term, feed forward

term, anti-windup and bumpless transfer using tracking mode control.

*[Reference ≫](http://www.cds.caltech.edu/~murray/amwiki)*