Christian Kleiber"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.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 "

Dear Christian:
If I understood you correctly, why is the reason not to use floating point numbers ? it is very easy to use even in assembly.
:)