/* This code is generated by ChatGPT */

#include <stdio.h>

double compute_control_action(double setpoint, double measured_output,
                              double kp, double ki, double kd,
                              double *integral, double *previous_error) {
    double error = setpoint - measured_output;
    *integral += error;
    double derivative = error - *previous_error;
    *previous_error = error;
    double control_action = kp * error + ki * (*integral) + kd * derivative;
    return control_action;
}

int main() {
    double setpoint = 100;  // desired setpoint
    double measured_output = 50;  // initial measured output
    double kp = 1;  // proportional gain
    double ki = 0.1;  // integral gain
    double kd = 0.5;  // derivative gain
    double integral = 0;  // integral term
    double previous_error = 0;  // previous error

    // Main loop
    while (1) {
        double control_action = compute_control_action(setpoint, measured_output, kp, ki, kd, &integral, &previous_error);
        printf("Control action: %f\\n", control_action);

        // Update the measured output based on the control action
        measured_output += control_action;
    }
}