openPID

PID controller with a fast backend. Built for simulation and process-control style loops where you pass an explicit dt.

install

pip install openpid

quick start

from openpid import PID, PIDConfig

pid = PID(PIDConfig(
    kp=2.0, ki=0.5, kd=0.1,
    output_min=0.0, output_max=100.0,
))

dt = 0.02
setpoint = 10.0
measurement = 0.0

u = pid.update(setpoint, measurement, dt)  # fast path (no telemetry object)
print(u)

some telemetry

u, t = pid.update(setpoint, measurement, dt, return_telemetry=True)
print(t.p, t.i, t.d, t.u, t.saturated)

features

• Explicit dt
• Output limits
• Anti-windup modes (none / clamp / conditional integration / back-calculation)
• Derivative on exact measurement
• OPTIONAL derivative low-pass filter (derivative_tau)
• OPTIONAL output rate limiting (rate_limit)

dev

pip install -e .
python -m pytest -q

License

MIT