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genpark-pid-controller-anti-windup-derivative-filter-skill

mcp
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SUMMARY

Industrial closed-loop PID controller with integrator anti-windup clamping and low-pass derivative filtering

README.md

Closed-Loop PID Controller Skill

Industrial-strength Proportional-Integral-Derivative (PID) controller featuring anti-windup clamping and low-pass derivative filtering.

flowchart LR
    Setpoint["Setpoint r(t)"] --> ErrorSum((+ -))
    Feedback["Measured y(t)"] --> ErrorSum
    ErrorSum --> Error["Error e(t)"]
    Error --> P["Kp * e(t)"]
    Error --> I["Ki * ∫ e dt (Anti-Windup)"]
    Error --> D["Kd * Filtered de/dt"]
    P --> OutSum((+))
    I --> OutSum
    D --> OutSum
    OutSum --> Clamp["Saturation Clamp"]
    Clamp --> Actuator["Control Output u(t)"]

Features

  • 100% Python Standard Library: No external dependencies.
  • Anti-Windup Integration: Halts integrator drift during actuator saturation.
  • First-Order Derivative Filtering: Suppresses high-frequency sensor noise.
  • MCP Server Ready: Direct stdio control loop invocation.

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