PIDParameter
PIDParameter is a data construct used to configure a proportional-integral-derivative (PID) controller. It typically comprises three gain coefficients: Kp (proportional), Ki (integral), and Kd (derivative). In many software libraries, PIDParameter may also include tuning constants such as a sampling period Ts, a derivative filter coefficient N, and anti-windup limits. The PID controller uses these gains to compute the control signal u(t) = Kp e(t) + Ki ∫ e(τ) dτ + Kd de/dt, where e(t) is the error between setpoint and process variable. In discrete implementations, integrator sums over samples and the derivative term uses a finite difference with Ts.
Practically, the parameter set governs the controller’s response: gains determine speed, overshoot, and stability. Inappropriate values
Representations vary by language: PIDParameter may be a simple struct or class with fields Kp, Ki, Kd,