[Dprglist] Better PID Equation for Computing with a microcontroller

[Kipton Moravec]

I found the writeup of the control equations for the power supply I did 
in December 2012 and pulled out just the PID part. The PID is faster for 
a computer to calculate.

I do not remember where it came from, but it is pretty cool and 
unrecognizable.

I made a PDF because equations do not work in email.

Kip

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