Implementation PI Controller using P18F4520

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Is there anyone know the approach on how to write a PI controller function using PIC18 MCU?
PI as in PID? As in proportional-integral-derivative control? If so, **broken link removed**. The code in it is written for Basic Stamp, but is trivial to port to any language.
 
PI as in PID? As in proportional-integral-derivative control? If so, **broken link removed**. The code in it is written for Basic Stamp, but is trivial to port to any language.

Ya.. It the Proportional-Integral Control. Thanks for the reference link.
 
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