Mini Classical Compensator

A collection of from-scratch, zero-dependency C implementations of classical compensator design and PID control theory. Each module maps to MIT (and other top-tier university) courses, bridging textbook transfer functions and frequency-domain design methods into runnable C code.

Module Status: COMPLETE ✅

Sub-Module	include/+src/ Lines	L1-L6	L7	L8	L9	Status
mini-cascade-control	3,194	Complete	Complete	Partial	Partial	✅
mini-feedforward-control	4,061	Complete	Complete	Partial	Partial	✅
mini-lag-compensator	5,362	Complete	Complete	Partial	Partial	✅
mini-lead-compensator	3,404	Complete	Complete	Partial	Partial	✅
mini-lead-lag-design	3,009	Complete	Complete	Partial	Partial	✅
mini-pid-theory	3,357	Complete	Complete	Partial	Partial	✅
mini-pid-tuning-ziegler	6,771	Complete	Complete	Partial	Partial	✅
mini-ratio-control	3,607	Complete	Complete	Partial	Partial	✅

All 8 sub-modules exceed the 3,000-line threshold and pass make test with zero failures.

Sub-Modules

Sub-Module	Topics	Key Courses
mini-cascade-control	Cascade control architecture, nested loops, bandwidth separation, sequential closure	MIT 6.302, Stanford ENGR105, Berkeley ME232
mini-feedforward-control	Feedforward compensation, 2-DOF architecture, disturbance rejection, input shaping	MIT 6.302, Stanford ENGR105, Cambridge 3F2
mini-lag-compensator	Lag compensator, steady-state error reduction, DC gain boost, phase-lag analysis	MIT 6.302, Stanford ENGR105, Berkeley ME132
mini-lead-compensator	Lead compensator, phase margin improvement, transient response, Bode design	MIT 6.302, Stanford ENGR105, Caltech CDS 110
mini-lead-lag-design	Lead-lag synthesis, root locus design, loop shaping, frequency-domain methods, sensitivity	MIT 6.302, Georgia Tech ECE 6550, ETH 151-0591
mini-pid-theory	PID forms, anti-windup, 2-DOF PID, derivative filtering, bumpless transfer	MIT 6.302, Stanford ENGR105, Cambridge 3F2
mini-pid-tuning-ziegler	Ziegler-Nichols tuning, FOPDT identification, relay autotune, Cohen-Coon, IMC	MIT 6.302, Chalmers (Åström & Hägglund)
mini-ratio-control	Ratio control, cross-limiting, blending, master-slave, mass balance integrity	Purdue ECE 602, Industrial Process Control

Design Philosophy

• Zero external dependencies — pure C (C99/C11), only libc and libm
• Self-contained modules — each directory has its own Makefile, include/, src/, examples/, demos/, tests/
• Theory-to-code mapping — every module translates classical control transfer functions and design procedures into runnable algorithms
• Practical demos — compensator design tools, PID autotuners, cascade tuning, ratio station simulators, and more

Building

Each module is standalone. Navigate to a module directory and run:

cd mini-cascade-control
make all    # build everything
make test   # run tests

Requires GCC and GNU Make.

Project Structure

mini-classical-compensator/
├── mini-cascade-control/        # Cascade control with nested primary/secondary loops
├── mini-feedforward-control/    # Feedforward and 2-DOF control architecture
├── mini-lag-compensator/        # Phase-lag compensator for steady-state accuracy
├── mini-lead-compensator/       # Phase-lead compensator for transient improvement
├── mini-lead-lag-design/        # Combined lead-lag design and loop shaping
├── mini-pid-theory/             # PID control theory, forms, and advanced features
├── mini-pid-tuning-ziegler/     # Ziegler-Nichols and classic PID tuning methods
└── mini-ratio-control/          # Ratio control with cross-limiting and blending

License

MIT