ZeqPID

PID controller tuning with HulyaPulse sampling. Auto-tune via Ziegler-Nichols on Zeqond timestep, bode plot analysis, stability margin computation.

Endpoint	POST /api/robotics/pid
Auth	api-key
Rate limit	30/min
Category	robotics

Parameters

Name	Type	Required	Description
plantModel	object	Yes	Transfer function coefficients { num, den }.
tuningMethod	string	No	'ziegler-nichols', 'cohen-coon', 'auto'.
setpoint	number	No	Desired setpoint value.

Returns

{ Kp, Ki, Kd, stepResponse, overshoot_pct, settlingTime_s, phaseMargin_deg, zeqond }

Example

curl -sS -X POST \
  -H "Authorization: Bearer zsm_..." \
  -H "Content-Type: application/json" \
  -d '{
  "plantModel": {},
  "tuningMethod": "auto",
  "setpoint": 1
}' \
  "https://zeqsdk.com/api/robotics/pid"

This protocol is a named building block — one of the operations you compose inside a state contract. Call it directly with the request above, or invoke it from a contract that fires on your machine's clock. Browse the whole library at GET /api/protocols; fetch this one at GET /api/protocols/zeq-pid.