typedef	struct MEIFilterGainPID {
    struct {
    float	proportional;	/* Kp */
    float	integral;	/* Ki */
    float	derivative;	/* Kd */
    } gain;
    struct {
        float	position;	/* Kpff */
        float	velocity;	/* Kvff */
        float	acceleration;	/* Kaff */
        float	friction;	/* Kfff */
    } feedForward;
    struct {
        float	moving;		/* MovingIMax */
        float	rest;		/* RestIMax */
    } integrationMax;
    long	dRate;		/* DRate */
    struct {
        float	limit;		/* OutputLimit */
        float	limitHigh;	/* OutputLimitHigh */
        float	limitLow;	/* OutputLimitLow */
        float	offset;		/* OutputOffset */
    } output;
    struct {
        float	positionFFT;	/* Ka0 */
        float	filterFFT;	/* Ka1 */
        float	velocityFFT;	/* Ka2 */
    } noise;
} MEIFilterGainPID;