# PID response exploration
# Scope: One scalar PID output sample with supplied error integral and derivative; not a closed-loop solve.
# Status: illustrative worked example; engineering review pending.
# Inputs are example values. Checks are editable example requirements, not standards.

kp = 2
ki = 1 s^-1
kd = 0.1 s
error = 0.2
integratedError = 0.1 s
errorRate = 0.5 s^-1

output := kp*error+ki*integratedError+kd*errorRate

check output saturation screen: abs(output) <= 1

scenario alternative: kp = 1.6