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I just read [this](http://brettbeauregard.com/blog/2011/04/improving-the-beginn...) yesterday. It details the effort that went into making the Arduino PID library more robust compared to the "beginners PID".

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As a controls engineer, this is still the best one-stop shop I’ve found for making PIDs a lot more usable & robust. There’s a few things I’d add but this covers the major bases.

So ... what would you add? :-)

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