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diff --git a/2048/DEPENDENCIES/pp_pid.sci b/2048/DEPENDENCIES/pp_pid.sci
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+// Solution to Aryabhatta's identity arising in PID controller design, namely Eq. 9.37 on page 363.
+// 9.20
+ 
+function [Rc,Sc] = pp_pid(B,A,k,phi,Delta)
+
+// Setting up and solving Aryabhatta identity
+dB = length(B) - 1; dA = length(A) - 1;
+[zk,dzk] = zpowk(k);
+[N,dN] = polmul(B,dB,zk,dzk);
+dDelta = length(Delta)-1;
+[D,dD] = polmul(A,dA,Delta,dDelta);
+dphi = length(phi)-1;
+[Sc,dSc,R,dR] = xdync(N,dN,D,dD,phi,dphi);
+Rc = convol(R,Delta);
+endfunction;