lucidPID: C++ library for PID Controller

The lucidPID Controller is simple PID Controller library. The lucidPID Controller implements the controller based on the control theory.

Design Concept

The lucidPID Controller adopts the object-oriented design concepts.

How to use it

Utilizing lucidPID Controller is easy and intuitive. All you need to do is just instantiate an instance.

Proportional Controller

// Proportional gain
double _Kp = 1;
// Desired valuer
double desired = 20;
double actural = 0;
double request = 0;
// Instantiating controller
lucidPropCtrl contrl = lucidPropCtrl(_Kp);
for(int i = 0; i < _Loop; i++)
{
    request = contrl.compute(desired, actural);
    actual = request; // You must pass request value to the plant
    std::cout << "Desire:" << desired <<"\tRequest:" << request <<"\tActual:" << actural << std::endl; 
}