Use this skill when implementing PID control loops for adaptive cruise control, vehicle speed regulation, throttle/brake management, or any feedback control system requiring proportional-integral-derivative control.
npxskills add benchflow-ai/skillsbench--skill pid-controllerLoading…
A PID (Proportional-Integral-Derivative) controller is a feedback control mechanism used in industrial control systems. It continuously calculates an error value and applies a correction based on proportional, integral, and derivative terms.
output = Kp * error + Ki * integral(error) + Kd * derivative(error)
Where:
error = setpoint - measured_valueKp = proportional gain (reacts to current error)Ki = integral gain (reacts to accumulated error)Kd = derivative gain (reacts to rate of change)class PIDController:
def __init__(self, kp, ki, kd, output_min=None, output_max=None):
self.kp = kp
self.ki = ki
self.kd = kd
self.output_min = output_min
self.output_max = output_max
self.integral = 0.0
self.prev_error = 0.0
def reset(self):
"""Clear controller state."""
self.integral = 0.0
self.prev_error = 0.0
def compute(self, error, dt):
"""Compute control output given error and timestep."""
# Proportional term
p_term = self.kp * error
# Integral term
self.integral += error * dt
i_term = self.ki * self.integral
# Derivative term
derivative = (error - self.prev_error) / dt if dt > 0 else 0.0
d_term = self.kd * derivative
self.prev_error = error
# Total output
output = p_term + i_term + d_term
# Output clamping (optional)
if self.output_min is not None:
output = max(output, self.output_min)
if self.output_max is not None:
output = min(output, self.output_max)
return output
Integral windup occurs when output saturates but integral keeps accumulating. Solutions:
Manual Tuning:
Effect of Each Gain:
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Create or update AgentSkills. Use when designing, structuring, or packaging skills with scripts, references, and assets.
Create or update AgentSkills. Use when designing, structuring, or packaging skills with scripts, references, and assets.
Set up and use 1Password CLI (op). Use when installing the CLI, enabling desktop app integration, signing in (single or multi-account), or reading/injecting/running secrets via op.
CLI to manage emails via IMAP/SMTP. Use `himalaya` to list, read, write, reply, forward, search, and organize emails from the terminal. Supports multiple accounts and message composition with MML (MIME Meta Language).