derivative filter in PID control loop

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Usman 2018-5-16

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https://ww2.mathworks.cn/matlabcentral/answers/401051-derivative-filter-in-pid-control-loop

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Hi, I am using a driving cycle and a PID driver that follows the velocity in the driving cycle as a reference. I have the Kp,Ki,Kd values 15,10,1 respectively. However my loop doesn't follow the speed properly. I may require to implement a filter in the derivative part which I am not sure how to do. Please , help me out how to define the derivative term with the filter using MATLAB only . I am not using any transfer functions neither Simulink . It works in a FOR loop and give results.

Kp=15;         % Proportional gain
Ki=10;         % Integral gain
Kd=1;          % Derivative gain
tauI=1/Ki;
tauD=1/Kd;
    e(i)  = v_cycle(i)-v_act(i);
    deriv =    (v_act(i)-v_act(i-1))/dT;
    integ =       integ+e(i)*dT;
u(i)=(Kp*e(i)) + ((Kp/tauI)*integ) - (Kp*tauD*deriv);