diff --git a/CPP_Implementation/RBF_aPID.cpp b/CPP_Implementation/RBF_aPID.cpp
index c7e35c5..db40363 100644
--- a/CPP_Implementation/RBF_aPID.cpp
+++ b/CPP_Implementation/RBF_aPID.cpp
@@ -1,8 +1,27 @@
 #include <iostream>
 #include <cmath>
 
+class aPIDController {
+public:
+    aPIDController(double kp, double ki, double kd, double dt)
+        : Kp(kp), Ki(ki), Kd(kd), dt(dt), integral(0.0), prev_err(0.0) {}
+
+    double update(double target, double measured_value) {
+        double error = target - measured_value;
+        integral += error * dt;
+        double derivative = (error - prev_err) / dt;
+        prev_err = error;
+
+        return (Kp * error) + (Ki * integral) + (Kd * derivative);
+    }
+
+private:
+    double Kp, Ki, Kd, dt;
+    double integral;
+    double prev_err;
+};
+
 int main() {
-    std::cout << "Test" << std::endl;
     
     return 0;
 }