diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7fa3c2b..89dae27 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,7 +13,6 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin)
 
 # Declare a C++ library
 add_library(${PROJECT_NAME}
-    src/controllers/pid_controller.cpp
     src/controllers/pi_controller.cpp
     src/math/functions.cpp
     src/math/foc.cpp
@@ -28,10 +27,6 @@ add_executable(pi_test tests/pi_test.cpp)
 target_link_libraries(pi_test ${PROJECT_NAME})
 add_test(NAME pi_test COMMAND "${CMAKE_SOURCE_DIR}/bin/pi_test")
 
-add_executable(pid_test tests/pid_test.cpp)
-target_link_libraries(pid_test ${PROJECT_NAME})
-add_test(NAME pid_test COMMAND "${CMAKE_SOURCE_DIR}/bin/pid_test")
-
 add_executable(bemf_observer_test tests/bemf_observer_test.cpp)
 target_link_libraries(bemf_observer_test ${PROJECT_NAME})
 add_test(NAME bemf_observer_test COMMAND "${CMAKE_SOURCE_DIR}/bin/bemf_observer_test")
diff --git a/include/controllers/pid_controller.hpp b/include/controllers/pid_controller.hpp
deleted file mode 100644
index ae8620c..0000000
--- a/include/controllers/pid_controller.hpp
+++ /dev/null
@@ -1,21 +0,0 @@
-#pragma once
-
-namespace controllers
-{
-
-struct pid_config
-{
-  float Kp, Ki, Kd, Ts, upper_limit, lower_limit;
-};
-
-class pid_controller
-{
-  float error_sum, output, error_prev;
-  float reset(float input, float output, float upper_limit, float lower_limit);
-  float clamp(float input, float upper_limit, float lower_limit);
-
-public:
-  pid_controller();
-  float loop(float error, const pid_config& config, float external_integral = 0, bool reset_integral = false);
-};
-}  // namespace controllers
diff --git a/src/controllers/pid_controller.cpp b/src/controllers/pid_controller.cpp
deleted file mode 100644
index d45d366..0000000
--- a/src/controllers/pid_controller.cpp
+++ /dev/null
@@ -1,45 +0,0 @@
-#include <controllers/pid_controller.hpp>
-
-controllers::pid_controller::pid_controller() : error_sum(0), output(0), error_prev(0)
-{
-}
-
-float controllers::pid_controller::clamp(float input, float upper_limit, float lower_limit)
-{
-  if (input < lower_limit)
-    return lower_limit;
-  else if (input > upper_limit)
-    return upper_limit;
-  else
-    return input;
-}
-
-float controllers::pid_controller::reset(float input, float output, float upper_limit, float lower_limit)
-{
-  if (input > 0 && output >= upper_limit)
-    return 0;
-  else if (input < 0 && output <= lower_limit)
-    return 0;
-  else
-    return input;
-}
-
-float controllers::pid_controller::loop(float error, const pid_config& config, float external_integral, bool reset_integral)
-{
-  if (error > 0 && output >= config.upper_limit)
-    error = 0;
-  else if (error < 0 && output <= config.lower_limit)
-    error = 0;
-
-  error_sum += config.Ki * config.Ts * (error + error_prev) / 2;
-  if (reset_integral)
-    error_sum = external_integral;
-  error_sum = clamp(error_sum, config.upper_limit, config.lower_limit);
-  float derror = (error - error_prev) / config.Ts;
-  output =
-      clamp(config.Kp * error + config.Ki * error_sum + config.Kd * derror, config.upper_limit, config.lower_limit);
-
-  error_prev = error;
-
-  return output;
-}
diff --git a/tests/pid_test.cpp b/tests/pid_test.cpp
deleted file mode 100644
index a760f2d..0000000
--- a/tests/pid_test.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-#include <iostream>
-#include <controllers/pid_controller.hpp>
-#include <math/functions.hpp>
-#define Ts 0.01
-
-using namespace controllers;
-
-int main()
-{
-  float x_meas = 0, x_ref = 10;
-  pid_config config = { 2, 1, 0.01, Ts, 10, -10 };
-  pid_controller controller;
-  std::cout << " Starting loop" << std::endl;
-  for (float t = 0; t < 10; t += Ts)
-  {
-    float error = x_ref - x_meas;
-    if(math::abs(error) < 0.1 && t>5)
-      break;
-    x_meas += Ts * controller.loop(error, config);
-    std::cout << "t = " << t << " x = " << x_meas << std::endl;
-  }
-}