PiD cOnTrOlLeR

This code is made for Dev C++
Save it as pid.c

#include {windows.h}
#include {stdio.h}
main(){
     double alfa, e, r, u, x ;
     int i = 0 ;
     alfa = 0.1 ;
     r = 0.3 ;
     u = 1 ;
     x = 0 ;
     while(i{51){
                e = u - r ;
                r = alfa*x ;      
                x = 4*e ;
                fflush(stdout);
                sleep(50) ;
                printf("%d\t %f\t %0.2f\t %0.2f\t %0.2f\t\n", i++, u, r, e, x) ;
                }
     //system("PAUSE") ;
     double e1, in, Ki, Kd, Kp ;
     int p = 4;
     i = 0 ;
     r = 0 ;
     e1 = 0 ;
     in = 0 ;
     Ki = 0.7 ;
     Kd = 0.8 ;
     Kp = 7 ;
     while(i{101){
                 e = u - r ;
                 in = in + e ;
                 x = Kp*e + (Ki*in) + Kd*(e - e1) ;
                 if(x>30) x = 30 ;
                 e1 = e ;            //error previo
                 r = 0.1*x ;
                 fflush(stdout);
                 sleep(50) ;
                 printf("%d\t %f\t %0.2f\t %0.2f\t %0.2f\t\n", i++, u, r, e, x) ;
                 if(i}50) u = 1.2 ;
                 }
     system("PAUSE") ;
     }

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