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diff --git a/2048/DEPENDENCIES/gmvc_pid.sci b/2048/DEPENDENCIES/gmvc_pid.sci
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+++ b/2048/DEPENDENCIES/gmvc_pid.sci
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+// PID tuning through GMVC law
+// 11.17
+
+// function [Kc,tau_i,tau_d,L] = gmvc_pid(A,B,k,T,Ts)
+// Determines p,i,d tuning parameters using GMVC
+// Plant model: Integrated white noise
+// A, B in discrete time form
+
+function [Kc,tau_i,tau_d,L] = gmvc_pid(A,B,k,T,Ts)
+
+dA = length(A)-1; dB = length(B)-1;
+dT = length(T)-1;
+if dA > 2,
+   disp('degree of A cannot be more than 2')
+   exit
+elseif dB > 1,
+   disp('degree of B cannot be more than 1')
+   exit
+elseif dT > 2,
+   disp('degree of T cannot be more than 2')
+   exit
+end
+delta = [1 -1]; ddelta = 1;
+
+[Adelta,dAdelta] = polmul(A,dA,delta,ddelta);
+
+[Q,dQ,P,dP] = ...
+xdync(Adelta,dAdelta,B,dB,T,dT);
+PAdelta = P(1)*Adelta;
+
+[zk,dzk] = zpowk(k);
+[E,degE,F,degF] = ...
+xdync(PAdelta,dAdelta,zk,dzk,P,dP);
+nu = P(1)*E(1)*B(1);
+Kc = -1/nu*(F(2)+2*F(3));
+tau_i = -(F(2)+2*F(3))/(F(1)+F(2)+F(3))*Ts;
+tau_d = -F(3)/(F(2)+2*F(3))*Ts;
+L(1) = 1+Ts/tau_i+tau_d/Ts;
+L(2) = -(1+2*tau_d/Ts);
+L(3) = tau_d/Ts;
+L = Kc * L';
+endfunction;