diff --git a/lib/pid/PIDcontroller.cpp b/lib/pid/PIDcontroller.cpp
new file mode 100644
index 0000000..34f87c6
--- /dev/null
+++ b/lib/pid/PIDcontroller.cpp
@@ -0,0 +1,33 @@
+#include <iostream>
+using namespace std;
+
+class PID {
+private:
+    double Kp, Ki, Kd;
+    double prev_error, integral;
+
+public:
+    PID(double Kp, double Ki, double Kd) 
+        : Kp(Kp), Ki(Ki), Kd(Kd), prev_error(0), integral(0) {}
+    double compute(double setpoint, double actual, double dt);
+    void reset();
+};
+
+double PID::compute(double setpoint, double actual, double dt) {
+    double error = setpoint - actual;
+    integral += error * dt;  
+    double derivative = (error - prev_error) / dt; 
+    prev_error = error; 
+}  
+
+void PID::reset() {
+    prev_error = 0;
+    integral = 0;
+}
+
+int main()
+{
+    PID::compute(setpoint, actual, dt);
+
+    return 0;
+}
\ No newline at end of file