PID-Controller

PID-Controller implemented in Lua, supporting such features as:
- On fly modification of the controller terms' gains (Kp, Ki, Kd);
- Weighted Proportional term calculation (on Error and on Measurement approaches mixed);
- "Derivative Kick" prevention mechanism (Derivative on Measurement calculation approach);
- Multidimensional values regulation;
- etc.
For usage, please, see examples ("StepResponse.lua" and "SpiralMovement.lua" scripts),
which implement movement of an inertial body along precalculated trajectory, using several differently tuned PID-Controllers.