Thanks a bunch Mike, it's always nice to hear when things works out!

If you don't mind (and are allowed) to disclose some details about the system I'd love to hear about it. Like what it is you're controlling, sensor, sampling rate, how you tuned it etc. I think it would make a nice post for future (and current) users of the PID-routine.

I've been considering an update of the routine for quite some time, you gave me the motivation to move forward with it. I just need to get my PBP260 working on my main PC here (looks like an OS re-install is needed and I hate doing that). I'll try adding feed-forward and a few other things, mostly tailored towards motor-control although probably useful in other applications as well.

Thanks again Mike!
/Henrik.