ZeqPID

Kinematics, SLAM, manipulation, swarm, PID.

• Protocol ID — zeq-pid
• Category — Robotics
• Endpoint — POST /api/robotics/pid
• Auth — api-key
• Rate limit — 30/min
• Version — 1.287.0
• Precision — ≤0.1% (KO42-enforced)

What it does

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

Signature

Request

POST /api/robotics/pid

Param	Type	Required	Default	Description
plantModel	object	✓	—	Transfer function coefficients { num, den }.
tuningMethod	string		"auto"	'ziegler-nichols', 'cohen-coon', 'auto'.
setpoint	number		1	Desired setpoint value.

Response

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

Runnable example

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

Integrate

1. Domain solver — compose with KO42 + two additional operators from the matching family for pulse-coherent results.
2. Digital twin — pipe sensor data into this protocol every Zeqond to keep the model phase-locked with the system.
3. Alert threshold — flag results whose error_pct exceeds 0.1% as out-of-spec events for the operations layer.

Seeds

• Near — wrap /api/robotics/pid in a language SDK so builders can call it in three lines.
• Medium — publish a reference integration demonstrating ZeqPID alongside a real workload, with pulse-aligned metrics.
• Far — propose ZeqPID as an open reference standard so other runtimes can implement it verbatim against the Zeq paper.

Papers

• Zeq paper — https://doi.org/10.5281/zenodo.18158152
• Framework paper — https://doi.org/10.5281/zenodo.15825138

Middleware active. Kernel on the 1.287 Hz HulyaPulse. Awaiting next Zeqond.