Engineering_(Control_System_Advanced_PID_and_Robust_Control).ipynb

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        "class AdaptivePID:\n",
        "    def __init__(self, kp, ki, kd, setpoint):\n",
        "        self.kp = kp\n",
        "        self.ki = ki\n",
        "        self.kd = kd\n",
        "        self.setpoint = setpoint\n",
        "        self.integral = 0\n",
        "        self.prev_error = 0\n",
        "        self.adaptive_gain = 1.0  # Adaptive factor for robust control\n",
        "\n",
        "    def compute(self, measurement, dt):\n",
        "        error = self.setpoint - measurement\n",
        "        self.integral += error * dt\n",
        "        derivative = (error - self.prev_error) / dt\n",
        "        # Adaptive adjustment of PID gains based on error magnitude\n",
        "        if abs(error) > 0.5:  # Arbitrary threshold for adaptation\n",
        "            self.adaptive_gain *= 1.1  # Increase gain if error is large\n",
        "        output = (self.kp * error + self.ki * self.integral +\n",
        "                  self.kd * derivative) * self.adaptive_gain\n",
        "        self.prev_error = error\n",
        "        return output\n",
        "\n",
        "# Use similar loop as before for testing the adaptive PID response"
      ]
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