讲PID原理的挺多，但是讲算法的实现却比较少，或是比较难懂，今天网上找到一个老外写的PID C语言实现，P ，I ，D 各环节独立实现，还是比较好理解的。-PID with a lot of talk about principles, but talk algorithm to achieve less than, or more difficult to understand, and today the Internet to find a foreigner to write PID C language, P, I, D each link to achieve independence, or better understood.