CSPID

CSPID (pronounced "speedy") is a C# PID (proportional-integral-derivative) controller targeting .NET Standard 2.0.

Contents

• Installation
• Usage

Installation

Clone the repo with git clone https://github.com/w-bonelli/CSPID.git or pull the package from Nuget.org with PowerShell: Install-Package CSPID.

Usage

There's one class: PIDController. It has one method: double Next(double error, double elapsed = 1). CSPID doesn't care how you measure your error or the passage of time. To construct a controller, provide:

• errorRange: the range you expect your error values to take
• controlRange: the range of values your control variable may take

You can tune gain in real time:

• ProportionalGain
• IntegralGain
• DerivativeGain

You can also impose a MaximumStep (the largest permissible change between successive control values).

// create a controller
var controller = new PIDController(
    errorRange: new Range<double>(-5, 5), // Range<T> models an inclusive range
    controlRange: new Range<double>(0, 10))
{
    MaximumStep = double.MaxValue,
    ProportionalGain = 1,
    IntegralGain = 1,
    DerivativeGain = 1
} as IPIDController; // interface is handy if you need to mock

// or do it the old-fashioned way
controller = new PIDController(
    minimumError: -5,
    maximumError: 5,
    minimumControl: 0,
    maximumControl: 10)
{
    MaximumStep = double.MaxValue,
    ProportionalGain = 1,
    IntegralGain = 1,
    DerivativeGain = 1
} as IPIDController;

// get a control value
var value1 = controller.Next(error: 1); // elapsed defaults to 1

// get another one
var value2 = controller.Next(error: -1, elapsed: 0.5);