PID implementation

haii alll,

i am beginner in PID system, so i need help in how to implement my simple system that is to control copper position using gyro/accelorometer sensor (input) and i want set the output to be pwm. here i attach some of my problem (pic and m file), i need help how to writing C code so then i can upload it into PIC, thanks


p/s hope u can guide me......sory if my dewsign is bad....