Emil Sundström, Kristian Soltesz and Tore Hägglund from the Department of Automatic Control at Lund University, José Luis Guzmàn and myself worked on the implementation of the standard PID controller. This was a two and a half year project, from October 2023 to May 2026. The algorithm is a discrete time implementation (not Laplace!) which is documented in the figures below. These figures helped to visulaise the code. There were many more iterations – none of them so pretty – before this final version. The drawings facilitated the discussion and ensured that we all understood the code in the same way.
A practical Guide to PID Implementation by E. Sundström et al., 2026.
