Simple Node.js PID controller.

```
$ npm install node-pid-controller
```

Let's take the example of a car cruise control. We want the car driving at 120km/h.

`k_p`

, `k_i`

and `k_d`

are the proportional, integral and derivative terms. `dt`

is the interval of time between two measures. If not set, it will be automatically calculated.

```
let Controller = require('node-pid-controller');
let ctr = new Controller({
k_p: 0.25,
k_i: 0.01,
k_d: 0.01,
dt: 1
});
```

You can also pass options as arguments:

```
let ctr = new Controller(0.25, 0.01, 0.01, 1); // k_p, k_i, k_d, dt
```

```
ctr.setTarget(120); // 120km/h
```

```
let correction = ctr.update(110); // 110km/h is the current speed
```

Normally, you use the correction to a measure, in a closed loop.

```
let goalReached = false
while (!goalReached) {
let output = measureFromSomeSensor();
let input = ctr.update(output);
applyInputToActuator(input);
goalReached = (input === 0) ? true : false; // in the case of continuous control, you let this variable 'false'
}
```

`k_p`

,`k_i`

,`k_d`

: the PID's coefficients`dt`

: interval of time (in seconds) between two measures. If not provided, it will be automatically calculated.`i_max`

: the maximum absolute value of the integral term (optional)

```
mocha test
```

Philmod <philippe.modard@gmail.com>

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