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def pid_controller(y, yc, h=1, Ti=1, Td=1, Kp=1, u0=0, e0=0) | |
"""Calculate System Input using a PID Controller | |
Arguments: | |
y .. Measured Output of the System | |
yc .. Desired Output of the System | |
h .. Sampling Time | |
Kp .. Controller Gain Constant | |
Ti .. Controller Integration Constant | |
Td .. Controller Derivation Constant |
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