写一段增量式PID的示例，

好的，以下是增量式PID的示例代码：

class IncrementalPID:
    def __init__(self, kp, ki, kd, Ts, min_val=None, max_val=None):
        self.kp = kp
        self.ki = ki
        self.kd = kd
        self.Ts = Ts
        self.e = 0
        self.last_e = 0
        self.integral = 0
        self.min_val = min_val
        self.max_val = max_val

    def calculate(self, set_point, feedback_value):
        self.e = set_point - feedback_value
        self.integral += self.e*self.Ts
        derivative = (self.e - self.last_e) / self.Ts
        output = self.kp*self.e + self.ki*self.integral + self.kd*derivative
        self.last_e = self.e
        
        if self.min_val is not None and output < self.min_val:
            output = self.min_val
        elif self.max_val is not None and output > self.max_val:
            output = self.max_val
            
        return output

上面这段代码是一个增量式PID控制器的示例。其中，kp、ki和kd分别代表比例、积分和微分系数，Ts代表采样时间，min_val和max_val是可选参数，用于对输出值进行限制。calculate方法接收设定值和反馈值作为输入，并返回对应的控制输出。