you will get an steady state error because of the decimals
make a pid in c++,then for each +,-,* make a trunk . and you will see what i'm talking about. it's difficult to explain it here and not in my native language but beleave me.
when you work in asembler you don't have decimals some will tell you that you don't need floating point numbers, i believe it and worked with some other thing and because of the decimals it had steady state error