Embedded 2-DOF PID controller that matches the Simulink PID Controller (2DOF) block.
Every parameter maps one-to-one onto a field of the Simulink PID Controller (2DOF) block, so a model you tune in simulation is the controller that runs on the microcontroller - they agree to numerical noise even while the output is saturated. Explicit dt in every term so gains survive a change of loop rate. Setpoint weighting b and c, filter coefficient N, trapezoidal or backward-Euler integration, clamping and back-calculation anti-windup, integrator limits, NaN/Inf rejection and bumpless manual-to-auto transfer. The core has no Arduino or HAL dependency, so the same file builds for STM32, ESP-IDF or a PC simulation.
| Filename | Release Date | File Size |
|---|---|---|
| shark_pid-1.0.0.zip | 2026-08-30 | 189.00 KiB |