Digital PID Control MATLAB M-File Implementation

I would like to share a MATLAB M-file implementation for digital PID control. This file contains a comprehensive PID controller implementation that can be adapted for various system types through parameter tuning. The code includes key components such as error calculation, proportional term handling, integral accumulation with anti-windup considerations, and derivative action with filtering options. I believe this implementation will be valuable for many control engineers and students. The M-file demonstrates practical PID algorithm implementation including discrete-time computation, sample rate handling, and output saturation limits. I welcome discussions with control engineering professionals about the controller's performance characteristics, practical application results, and potential enhancements such as adding feedforward control or adaptive tuning features. Through collaborative exchanges, we can collectively improve our technical skills and contribute to advancements in control system design. Potential improvement areas include implementing different PID variations (PI-D, I-PD), adding auto-tuning capabilities, or integrating with system identification methods for optimal performance.