Index: PIDControllers.c
===================================================================
diff -u -r0ead56df33c1583486ca3a8f8eeeeadfa5f11eb5 -raa6bdd3bfc3bd8bc1a56670c2bdadc32c99b33c3
--- PIDControllers.c	(.../PIDControllers.c)	(revision 0ead56df33c1583486ca3a8f8eeeeadfa5f11eb5)
+++ PIDControllers.c	(.../PIDControllers.c)	(revision aa6bdd3bfc3bd8bc1a56670c2bdadc32c99b33c3)
@@ -116,7 +116,7 @@
         controller->uMin = controlMin;
         controller->uMax = controlMax;
         controller->isFeedForwardEnabled = isFeedForwardEnabled;
-        resetPIController( controllerID, initialControlSignal, feedFowardSignal );
+        resetPIDController( controllerID, initialControlSignal, feedFowardSignal );
     }
     else
     {
@@ -294,47 +294,47 @@
 
         switch( signalID )
         {
-            case CONTROLLER_SIGNAL_REFERENCE:
+            case CONTROLLER_SIGNAL_PID_REFERENCE:
                 output = controller->referenceSignal;
                 break;
 
-            case CONTROLLER_SIGNAL_MEASURED:
+            case CONTROLLER_SIGNAL_PID_MEASURED:
                 output = controller->measuredSignal;
                 break;
 
-            case CONTROLLER_SIGNAL_ERROR:
+            case CONTROLLER_SIGNAL_PID_ERROR:
                 output = controller->errorSignal;
                 break;
 
-            case CONTROLLER_SIGNAL_ERROR_SUM:
+            case CONTROLLER_SIGNAL_PID_ERROR_SUM:
                 output = controller->errorSumBeforeWindUp;
                 break;
 
-            case CONTROLLER_SIGNAL_ERROR_SUM_AFTER_WINDUP:
+            case CONTROLLER_SIGNAL_PID_ERROR_SUM_AFTER_WINDUP:
                 output = controller->errorSum;
                 break;
 
-            case CONTROLLER_SIGNAL_PROPORTIONAL_OUTPUT:
+            case CONTROLLER_SIGNAL_PID_PROPORTIONAL_OUTPUT:
                 output = controller->Kp * controller->errorSignal;
                 break;
 
-            case CONTROLLER_SIGNAL_INTEGRAL_OUTPUT:
+            case CONTROLLER_SIGNAL_PID_INTEGRAL_OUTPUT:
                 output = controller->Ki * controller->errorSum;
                 break;
 
-            case CONTROLLER_SIGNAL_FEEDFORWARD_OUTPUT:
+            case CONTROLLER_SIGNAL_PID_FEEDFORWARD_OUTPUT:
                  output = controller->feedForward;
                  break;
 
-            case CONTROLLER_SIGNAL_CONTROL:
+            case CONTROLLER_SIGNAL_PID_CONTROL:
                 output = controller->controlSignal;
                 break;
 
-            case CONTROLLER_SIGNAL_ERROR_PREVIOUS:
+            case CONTROLLER_SIGNAL_PID_ERROR_PREVIOUS:
                 output = controller->errorPrevious;
                 break;
 
-            case CONTROLLER_SIGNAL_DERIVATIVE_OUTPUT:
+            case CONTROLLER_SIGNAL_PID_DERIVATIVE_OUTPUT:
                 output = controller->Kd * ( controller->errorSignal - controller->errorPrevious );
 
             default:
Index: PIDControllers.h
===================================================================
diff -u -r0ead56df33c1583486ca3a8f8eeeeadfa5f11eb5 -raa6bdd3bfc3bd8bc1a56670c2bdadc32c99b33c3
--- PIDControllers.h	(.../PIDControllers.h)	(revision 0ead56df33c1583486ca3a8f8eeeeadfa5f11eb5)
+++ PIDControllers.h	(.../PIDControllers.h)	(revision aa6bdd3bfc3bd8bc1a56670c2bdadc32c99b33c3)
@@ -36,7 +36,7 @@
 // ********** public definitions **********
 
 /// Enumeration of PID controllers.
-typedef enum ControllerList
+typedef enum ControllerListPID
 {
 #ifdef _TD_
     PID_CONTROLLER_ID_BLOOD_FLOW,                    ///< Blood pump controller to target flow rate
@@ -48,20 +48,20 @@
 } PID_CONTROLLER_ID_T;
 
 /// Enumeration of PI controller signals.
-typedef enum ControllerSignals
+typedef enum ControllerSignalsPID
 {
-    CONTROLLER_SIGNAL_REFERENCE = 0,                ///< Reference value
-    CONTROLLER_SIGNAL_MEASURED,                     ///< Measured value
-    CONTROLLER_SIGNAL_ERROR,                        ///< Error value
-    CONTROLLER_SIGNAL_ERROR_SUM,                    ///< Error sum before anti-windup
-    CONTROLLER_SIGNAL_ERROR_SUM_AFTER_WINDUP,       ///< Error sum after anti-windup
-    CONTROLLER_SIGNAL_ERROR_PREVIOUS,               ///< Previous error signal
-    CONTROLLER_SIGNAL_PROPORTIONAL_OUTPUT,          ///< P portion of controller output signal
-    CONTROLLER_SIGNAL_INTEGRAL_OUTPUT,              ///< I portion of controller output signal
-    CONTROLLER_SIGNAL_DERIVATIVE_OUTPUT,            ///< D portion of controller output signal.
-    CONTROLLER_SIGNAL_FEEDFORWARD_OUTPUT,           ///< Feed forward portion of controller output signal
-    CONTROLLER_SIGNAL_CONTROL,                      ///< Controller output signal
-    NUM_OF_CONTROLLER_SIGNAL                        ///< Number of PI controller signals
+    CONTROLLER_SIGNAL_PID_REFERENCE = 0,                ///< Reference value
+    CONTROLLER_SIGNAL_PID_MEASURED,                     ///< Measured value
+    CONTROLLER_SIGNAL_PID_ERROR,                        ///< Error value
+    CONTROLLER_SIGNAL_PID_ERROR_SUM,                    ///< Error sum before anti-windup
+    CONTROLLER_SIGNAL_PID_ERROR_SUM_AFTER_WINDUP,       ///< Error sum after anti-windup
+    CONTROLLER_SIGNAL_PID_ERROR_PREVIOUS,               ///< Previous error signal
+    CONTROLLER_SIGNAL_PID_PROPORTIONAL_OUTPUT,          ///< P portion of controller output signal
+    CONTROLLER_SIGNAL_PID_INTEGRAL_OUTPUT,              ///< I portion of controller output signal
+    CONTROLLER_SIGNAL_PID_DERIVATIVE_OUTPUT,            ///< D portion of controller output signal.
+    CONTROLLER_SIGNAL_PID_FEEDFORWARD_OUTPUT,           ///< Feed forward portion of controller output signal
+    CONTROLLER_SIGNAL_PID_CONTROL,                      ///< Controller output signal
+    NUM_OF_CONTROLLER_SIGNAL_PID                        ///< Number of PI controller signals
 } PID_CONTROLLER_SIGNALS_ID;
 
 /// Data structure for PI control profiles.
@@ -79,7 +79,7 @@
 // ********** public function prototypes **********
 
 void initializePIDController( PID_CONTROLLER_ID_T controllerID, F32 initialControlSignal,
-                             F32 kP, F32 kI, F32 controlMin, F32 controlMax,
+                             F32 kP, F32 kI, F32 kD, F32 controlMin, F32 controlMax,
                              BOOL isFeedForwardEnabled, F32 feedFowardSignal );
 void resetPIDController( PID_CONTROLLER_ID_T controllerID, F32 initialControlSignal, F32 feedFowardSignal );
 F32 runPIDController( PID_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal );