hi i need to control postion of a motor using digital pid actually i m doing a project on plate mounted inverted pendulum mean a pendulum would be attached to the shaft of the servo motor through a plate or pulley.
i want help regarding digital pid assembly language algorithm and also i have a knowlege of analogue pid and pic18f assembly programming

 

Microchip has some notes on digital PID control in this SMPS related application note:

http://ww1.microchip.com/downloads/en/AppNotes/01207B.pdf