# What algorithm is being used for smoothing by the pid controller?

**URL:** <https://klipper.discourse.group/t/what-algorithm-is-being-used-for-smoothing-by-the-pid-controller/3263>\
**Category:** Developers\
**Created:** [June 24, 2022, 9:51pm UTC](https://klipper.discourse.group/t/what-algorithm-is-being-used-for-smoothing-by-the-pid-controller/3263 "2022-06-24T21:51:58Z")\
**Posts on this page:** 1\
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**Author:** ![Sineos](https://yyz2.discourse-cdn.com/free1/user_avatar/klipper.discourse.group/sineos/32/18_2.png) [@Sineos](https://klipper.discourse.group/u/Sineos)\
**Post date:** [June 27, 2022, 6:54pm UTC](https://klipper.discourse.group/t/what-algorithm-is-being-used-for-smoothing-by-the-pid-controller/3263/7 "2022-06-27T18:54:38Z")

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Just for reference: [Klipper with MPC](https://klipper.discourse.group/t/klipper-with-mpc/3101)  
Dunno if there are any real world advantages or just added complexity, at least it sounds nice at the first impression.  
This is the corresponding Marlin PR: [https://github.com/MarlinFirmware/Marlin/pull/23751](https://github.com/MarlinFirmware/Marlin/pull/23751) (and [MPC tuning improvements by tombrazier · Pull Request #23984 · MarlinFirmware/Marlin · GitHub](https://github.com/MarlinFirmware/Marlin/pull/23984))

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