diff --git a/BUILD b/BUILD
index 7d9f1c5..649cccf 100644
--- a/BUILD
+++ b/BUILD
@@ -252,6 +252,7 @@
     "src/core/lib/transport/metadata.h",
     "src/core/lib/transport/metadata_batch.h",
     "src/core/lib/transport/method_config.h",
+    "src/core/lib/transport/pid_controller.h",
     "src/core/lib/transport/static_metadata.h",
     "src/core/lib/transport/timeout_encoding.h",
     "src/core/lib/transport/transport.h",
@@ -436,6 +437,7 @@
     "src/core/lib/transport/metadata.c",
     "src/core/lib/transport/metadata_batch.c",
     "src/core/lib/transport/method_config.c",
+    "src/core/lib/transport/pid_controller.c",
     "src/core/lib/transport/static_metadata.c",
     "src/core/lib/transport/timeout_encoding.c",
     "src/core/lib/transport/transport.c",
@@ -676,6 +678,7 @@
     "src/core/lib/transport/metadata.h",
     "src/core/lib/transport/metadata_batch.h",
     "src/core/lib/transport/method_config.h",
+    "src/core/lib/transport/pid_controller.h",
     "src/core/lib/transport/static_metadata.h",
     "src/core/lib/transport/timeout_encoding.h",
     "src/core/lib/transport/transport.h",
@@ -845,6 +848,7 @@
     "src/core/lib/transport/metadata.c",
     "src/core/lib/transport/metadata_batch.c",
     "src/core/lib/transport/method_config.c",
+    "src/core/lib/transport/pid_controller.c",
     "src/core/lib/transport/static_metadata.c",
     "src/core/lib/transport/timeout_encoding.c",
     "src/core/lib/transport/transport.c",
@@ -1055,6 +1059,7 @@
     "src/core/lib/transport/metadata.h",
     "src/core/lib/transport/metadata_batch.h",
     "src/core/lib/transport/method_config.h",
+    "src/core/lib/transport/pid_controller.h",
     "src/core/lib/transport/static_metadata.h",
     "src/core/lib/transport/timeout_encoding.h",
     "src/core/lib/transport/transport.h",
@@ -1216,6 +1221,7 @@
     "src/core/lib/transport/metadata.c",
     "src/core/lib/transport/metadata_batch.c",
     "src/core/lib/transport/method_config.c",
+    "src/core/lib/transport/pid_controller.c",
     "src/core/lib/transport/static_metadata.c",
     "src/core/lib/transport/timeout_encoding.c",
     "src/core/lib/transport/transport.c",
@@ -2147,6 +2153,7 @@
     "src/core/lib/transport/metadata.c",
     "src/core/lib/transport/metadata_batch.c",
     "src/core/lib/transport/method_config.c",
+    "src/core/lib/transport/pid_controller.c",
     "src/core/lib/transport/static_metadata.c",
     "src/core/lib/transport/timeout_encoding.c",
     "src/core/lib/transport/transport.c",
@@ -2366,6 +2373,7 @@
     "src/core/lib/transport/metadata.h",
     "src/core/lib/transport/metadata_batch.h",
     "src/core/lib/transport/method_config.h",
+    "src/core/lib/transport/pid_controller.h",
     "src/core/lib/transport/static_metadata.h",
     "src/core/lib/transport/timeout_encoding.h",
     "src/core/lib/transport/transport.h",
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0550a3b..e04e64a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -393,6 +393,7 @@
   src/core/lib/transport/metadata.c
   src/core/lib/transport/metadata_batch.c
   src/core/lib/transport/method_config.c
+  src/core/lib/transport/pid_controller.c
   src/core/lib/transport/static_metadata.c
   src/core/lib/transport/timeout_encoding.c
   src/core/lib/transport/transport.c
@@ -665,6 +666,7 @@
   src/core/lib/transport/metadata.c
   src/core/lib/transport/metadata_batch.c
   src/core/lib/transport/method_config.c
+  src/core/lib/transport/pid_controller.c
   src/core/lib/transport/static_metadata.c
   src/core/lib/transport/timeout_encoding.c
   src/core/lib/transport/transport.c
@@ -909,6 +911,7 @@
   src/core/lib/transport/metadata.c
   src/core/lib/transport/metadata_batch.c
   src/core/lib/transport/method_config.c
+  src/core/lib/transport/pid_controller.c
   src/core/lib/transport/static_metadata.c
   src/core/lib/transport/timeout_encoding.c
   src/core/lib/transport/transport.c
diff --git a/Makefile b/Makefile
index d5bb63c..78aa55f 100644
--- a/Makefile
+++ b/Makefile
@@ -1028,6 +1028,7 @@
 timer_list_test: $(BINDIR)/$(CONFIG)/timer_list_test
 transport_connectivity_state_test: $(BINDIR)/$(CONFIG)/transport_connectivity_state_test
 transport_metadata_test: $(BINDIR)/$(CONFIG)/transport_metadata_test
+transport_pid_controller_test: $(BINDIR)/$(CONFIG)/transport_pid_controller_test
 transport_security_test: $(BINDIR)/$(CONFIG)/transport_security_test
 udp_server_test: $(BINDIR)/$(CONFIG)/udp_server_test
 uri_fuzzer_test: $(BINDIR)/$(CONFIG)/uri_fuzzer_test
@@ -1351,6 +1352,7 @@
   $(BINDIR)/$(CONFIG)/timer_list_test \
   $(BINDIR)/$(CONFIG)/transport_connectivity_state_test \
   $(BINDIR)/$(CONFIG)/transport_metadata_test \
+  $(BINDIR)/$(CONFIG)/transport_pid_controller_test \
   $(BINDIR)/$(CONFIG)/transport_security_test \
   $(BINDIR)/$(CONFIG)/udp_server_test \
   $(BINDIR)/$(CONFIG)/uri_parser_test \
@@ -1757,6 +1759,8 @@
 	$(Q) $(BINDIR)/$(CONFIG)/transport_connectivity_state_test || ( echo test transport_connectivity_state_test failed ; exit 1 )
 	$(E) "[RUN]     Testing transport_metadata_test"
 	$(Q) $(BINDIR)/$(CONFIG)/transport_metadata_test || ( echo test transport_metadata_test failed ; exit 1 )
+	$(E) "[RUN]     Testing transport_pid_controller_test"
+	$(Q) $(BINDIR)/$(CONFIG)/transport_pid_controller_test || ( echo test transport_pid_controller_test failed ; exit 1 )
 	$(E) "[RUN]     Testing transport_security_test"
 	$(Q) $(BINDIR)/$(CONFIG)/transport_security_test || ( echo test transport_security_test failed ; exit 1 )
 	$(E) "[RUN]     Testing udp_server_test"
@@ -2682,6 +2686,7 @@
     src/core/lib/transport/metadata.c \
     src/core/lib/transport/metadata_batch.c \
     src/core/lib/transport/method_config.c \
+    src/core/lib/transport/pid_controller.c \
     src/core/lib/transport/static_metadata.c \
     src/core/lib/transport/timeout_encoding.c \
     src/core/lib/transport/transport.c \
@@ -2972,6 +2977,7 @@
     src/core/lib/transport/metadata.c \
     src/core/lib/transport/metadata_batch.c \
     src/core/lib/transport/method_config.c \
+    src/core/lib/transport/pid_controller.c \
     src/core/lib/transport/static_metadata.c \
     src/core/lib/transport/timeout_encoding.c \
     src/core/lib/transport/transport.c \
@@ -3253,6 +3259,7 @@
     src/core/lib/transport/metadata.c \
     src/core/lib/transport/metadata_batch.c \
     src/core/lib/transport/method_config.c \
+    src/core/lib/transport/pid_controller.c \
     src/core/lib/transport/static_metadata.c \
     src/core/lib/transport/timeout_encoding.c \
     src/core/lib/transport/transport.c \
@@ -3463,6 +3470,7 @@
     src/core/lib/transport/metadata.c \
     src/core/lib/transport/metadata_batch.c \
     src/core/lib/transport/method_config.c \
+    src/core/lib/transport/pid_controller.c \
     src/core/lib/transport/static_metadata.c \
     src/core/lib/transport/timeout_encoding.c \
     src/core/lib/transport/transport.c \
@@ -11076,6 +11084,38 @@
 endif
 
 
+TRANSPORT_PID_CONTROLLER_TEST_SRC = \
+    test/core/transport/pid_controller_test.c \
+
+TRANSPORT_PID_CONTROLLER_TEST_OBJS = $(addprefix $(OBJDIR)/$(CONFIG)/, $(addsuffix .o, $(basename $(TRANSPORT_PID_CONTROLLER_TEST_SRC))))
+ifeq ($(NO_SECURE),true)
+
+# You can't build secure targets if you don't have OpenSSL.
+
+$(BINDIR)/$(CONFIG)/transport_pid_controller_test: openssl_dep_error
+
+else
+
+
+
+$(BINDIR)/$(CONFIG)/transport_pid_controller_test: $(TRANSPORT_PID_CONTROLLER_TEST_OBJS) $(LIBDIR)/$(CONFIG)/libgrpc_test_util.a $(LIBDIR)/$(CONFIG)/libgrpc.a $(LIBDIR)/$(CONFIG)/libgpr_test_util.a $(LIBDIR)/$(CONFIG)/libgpr.a
+	$(E) "[LD]      Linking $@"
+	$(Q) mkdir -p `dirname $@`
+	$(Q) $(LD) $(LDFLAGS) $(TRANSPORT_PID_CONTROLLER_TEST_OBJS) $(LIBDIR)/$(CONFIG)/libgrpc_test_util.a $(LIBDIR)/$(CONFIG)/libgrpc.a $(LIBDIR)/$(CONFIG)/libgpr_test_util.a $(LIBDIR)/$(CONFIG)/libgpr.a $(LDLIBS) $(LDLIBS_SECURE) -o $(BINDIR)/$(CONFIG)/transport_pid_controller_test
+
+endif
+
+$(OBJDIR)/$(CONFIG)/test/core/transport/pid_controller_test.o:  $(LIBDIR)/$(CONFIG)/libgrpc_test_util.a $(LIBDIR)/$(CONFIG)/libgrpc.a $(LIBDIR)/$(CONFIG)/libgpr_test_util.a $(LIBDIR)/$(CONFIG)/libgpr.a
+
+deps_transport_pid_controller_test: $(TRANSPORT_PID_CONTROLLER_TEST_OBJS:.o=.dep)
+
+ifneq ($(NO_SECURE),true)
+ifneq ($(NO_DEPS),true)
+-include $(TRANSPORT_PID_CONTROLLER_TEST_OBJS:.o=.dep)
+endif
+endif
+
+
 TRANSPORT_SECURITY_TEST_SRC = \
     test/core/tsi/transport_security_test.c \
 
diff --git a/binding.gyp b/binding.gyp
index 9f3b75a..bb215c4 100644
--- a/binding.gyp
+++ b/binding.gyp
@@ -671,6 +671,7 @@
         'src/core/lib/transport/metadata.c',
         'src/core/lib/transport/metadata_batch.c',
         'src/core/lib/transport/method_config.c',
+        'src/core/lib/transport/pid_controller.c',
         'src/core/lib/transport/static_metadata.c',
         'src/core/lib/transport/timeout_encoding.c',
         'src/core/lib/transport/transport.c',
diff --git a/build.yaml b/build.yaml
index b5856d4..bbe9a1c 100644
--- a/build.yaml
+++ b/build.yaml
@@ -256,6 +256,7 @@
   - src/core/lib/transport/metadata.h
   - src/core/lib/transport/metadata_batch.h
   - src/core/lib/transport/method_config.h
+  - src/core/lib/transport/pid_controller.h
   - src/core/lib/transport/static_metadata.h
   - src/core/lib/transport/timeout_encoding.h
   - src/core/lib/transport/transport.h
@@ -364,6 +365,7 @@
   - src/core/lib/transport/metadata.c
   - src/core/lib/transport/metadata_batch.c
   - src/core/lib/transport/method_config.c
+  - src/core/lib/transport/pid_controller.c
   - src/core/lib/transport/static_metadata.c
   - src/core/lib/transport/timeout_encoding.c
   - src/core/lib/transport/transport.c
@@ -2675,6 +2677,16 @@
   - grpc
   - gpr_test_util
   - gpr
+- name: transport_pid_controller_test
+  build: test
+  language: c
+  src:
+  - test/core/transport/pid_controller_test.c
+  deps:
+  - grpc_test_util
+  - grpc
+  - gpr_test_util
+  - gpr
 - name: transport_security_test
   build: test
   language: c
diff --git a/config.m4 b/config.m4
index 8f26e42..09aaac6 100644
--- a/config.m4
+++ b/config.m4
@@ -187,6 +187,7 @@
     src/core/lib/transport/metadata.c \
     src/core/lib/transport/metadata_batch.c \
     src/core/lib/transport/method_config.c \
+    src/core/lib/transport/pid_controller.c \
     src/core/lib/transport/static_metadata.c \
     src/core/lib/transport/timeout_encoding.c \
     src/core/lib/transport/transport.c \
diff --git a/gRPC-Core.podspec b/gRPC-Core.podspec
index 75d79e3..367b4d9 100644
--- a/gRPC-Core.podspec
+++ b/gRPC-Core.podspec
@@ -339,6 +339,7 @@
                       'src/core/lib/transport/metadata.h',
                       'src/core/lib/transport/metadata_batch.h',
                       'src/core/lib/transport/method_config.h',
+                      'src/core/lib/transport/pid_controller.h',
                       'src/core/lib/transport/static_metadata.h',
                       'src/core/lib/transport/timeout_encoding.h',
                       'src/core/lib/transport/transport.h',
@@ -527,6 +528,7 @@
                       'src/core/lib/transport/metadata.c',
                       'src/core/lib/transport/metadata_batch.c',
                       'src/core/lib/transport/method_config.c',
+                      'src/core/lib/transport/pid_controller.c',
                       'src/core/lib/transport/static_metadata.c',
                       'src/core/lib/transport/timeout_encoding.c',
                       'src/core/lib/transport/transport.c',
@@ -735,6 +737,7 @@
                               'src/core/lib/transport/metadata.h',
                               'src/core/lib/transport/metadata_batch.h',
                               'src/core/lib/transport/method_config.h',
+                              'src/core/lib/transport/pid_controller.h',
                               'src/core/lib/transport/static_metadata.h',
                               'src/core/lib/transport/timeout_encoding.h',
                               'src/core/lib/transport/transport.h',
diff --git a/grpc.gemspec b/grpc.gemspec
index 615a962..f4919bf 100755
--- a/grpc.gemspec
+++ b/grpc.gemspec
@@ -259,6 +259,7 @@
   s.files += %w( src/core/lib/transport/metadata.h )
   s.files += %w( src/core/lib/transport/metadata_batch.h )
   s.files += %w( src/core/lib/transport/method_config.h )
+  s.files += %w( src/core/lib/transport/pid_controller.h )
   s.files += %w( src/core/lib/transport/static_metadata.h )
   s.files += %w( src/core/lib/transport/timeout_encoding.h )
   s.files += %w( src/core/lib/transport/transport.h )
@@ -447,6 +448,7 @@
   s.files += %w( src/core/lib/transport/metadata.c )
   s.files += %w( src/core/lib/transport/metadata_batch.c )
   s.files += %w( src/core/lib/transport/method_config.c )
+  s.files += %w( src/core/lib/transport/pid_controller.c )
   s.files += %w( src/core/lib/transport/static_metadata.c )
   s.files += %w( src/core/lib/transport/timeout_encoding.c )
   s.files += %w( src/core/lib/transport/transport.c )
diff --git a/package.xml b/package.xml
index a60eac6..169553e 100644
--- a/package.xml
+++ b/package.xml
@@ -266,6 +266,7 @@
     <file baseinstalldir="/" name="src/core/lib/transport/metadata.h" role="src" />
     <file baseinstalldir="/" name="src/core/lib/transport/metadata_batch.h" role="src" />
     <file baseinstalldir="/" name="src/core/lib/transport/method_config.h" role="src" />
+    <file baseinstalldir="/" name="src/core/lib/transport/pid_controller.h" role="src" />
     <file baseinstalldir="/" name="src/core/lib/transport/static_metadata.h" role="src" />
     <file baseinstalldir="/" name="src/core/lib/transport/timeout_encoding.h" role="src" />
     <file baseinstalldir="/" name="src/core/lib/transport/transport.h" role="src" />
@@ -454,6 +455,7 @@
     <file baseinstalldir="/" name="src/core/lib/transport/metadata.c" role="src" />
     <file baseinstalldir="/" name="src/core/lib/transport/metadata_batch.c" role="src" />
     <file baseinstalldir="/" name="src/core/lib/transport/method_config.c" role="src" />
+    <file baseinstalldir="/" name="src/core/lib/transport/pid_controller.c" role="src" />
     <file baseinstalldir="/" name="src/core/lib/transport/static_metadata.c" role="src" />
     <file baseinstalldir="/" name="src/core/lib/transport/timeout_encoding.c" role="src" />
     <file baseinstalldir="/" name="src/core/lib/transport/transport.c" role="src" />
diff --git a/src/core/lib/transport/pid_controller.c b/src/core/lib/transport/pid_controller.c
new file mode 100644
index 0000000..3cef225
--- /dev/null
+++ b/src/core/lib/transport/pid_controller.c
@@ -0,0 +1,57 @@
+/*
+ *
+ * Copyright 2016, Google Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following disclaimer
+ * in the documentation and/or other materials provided with the
+ * distribution.
+ *     * Neither the name of Google Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#include "src/core/lib/transport/pid_controller.h"
+
+void grpc_pid_controller_init(grpc_pid_controller *pid_controller,
+                              double gain_p, double gain_i, double gain_d) {
+  pid_controller->gain_p = gain_p;
+  pid_controller->gain_i = gain_i;
+  pid_controller->gain_d = gain_d;
+  grpc_pid_controller_reset(pid_controller);
+}
+
+void grpc_pid_controller_reset(grpc_pid_controller *pid_controller) {
+  pid_controller->last_error = 0.0;
+  pid_controller->error_integral = 0.0;
+}
+
+double grpc_pid_controller_update(grpc_pid_controller *pid_controller,
+                                  double error, double dt) {
+  pid_controller->error_integral += error * dt;
+  double diff_error = (error - pid_controller->last_error) / dt;
+  pid_controller->last_error = error;
+  return dt * (pid_controller->gain_p * error +
+               pid_controller->gain_i * pid_controller->error_integral +
+               pid_controller->gain_d * diff_error);
+}
diff --git a/src/core/lib/transport/pid_controller.h b/src/core/lib/transport/pid_controller.h
new file mode 100644
index 0000000..ecb9dee
--- /dev/null
+++ b/src/core/lib/transport/pid_controller.h
@@ -0,0 +1,64 @@
+/*
+ *
+ * Copyright 2016, Google Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following disclaimer
+ * in the documentation and/or other materials provided with the
+ * distribution.
+ *     * Neither the name of Google Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#ifndef GRPC_CORE_LIB_TRANSPORT_PID_CONTROLLER_H
+#define GRPC_CORE_LIB_TRANSPORT_PID_CONTROLLER_H
+
+/* \file Simple PID controller.
+   Implements a proportial-integral-derivative controller.
+   Used when we want to iteratively control a variable to converge some other
+   observed value to a 'set-point'.
+   Gains can be set to adjust sensitivity to current error (p), the integral
+   of error (i), and the derivative of error (d). */
+
+typedef struct {
+  double gain_p;
+  double gain_i;
+  double gain_d;
+  double last_error;
+  double error_integral;
+} grpc_pid_controller;
+
+/** Initialize the controller */
+void grpc_pid_controller_init(grpc_pid_controller *pid_controller,
+                              double gain_p, double gain_i, double gain_d);
+
+/** Reset the controller: useful when things have changed significantly */
+void grpc_pid_controller_reset(grpc_pid_controller *pid_controller);
+
+/** Update the controller: given a current error estimate, and the time since
+    the last update, returns a delta to the control value */
+double grpc_pid_controller_update(grpc_pid_controller *pid_controller,
+                                  double error, double dt);
+
+#endif
diff --git a/src/python/grpcio/grpc_core_dependencies.py b/src/python/grpcio/grpc_core_dependencies.py
index 1ad4239..8f4b3bc 100644
--- a/src/python/grpcio/grpc_core_dependencies.py
+++ b/src/python/grpcio/grpc_core_dependencies.py
@@ -181,6 +181,7 @@
   'src/core/lib/transport/metadata.c',
   'src/core/lib/transport/metadata_batch.c',
   'src/core/lib/transport/method_config.c',
+  'src/core/lib/transport/pid_controller.c',
   'src/core/lib/transport/static_metadata.c',
   'src/core/lib/transport/timeout_encoding.c',
   'src/core/lib/transport/transport.c',
diff --git a/test/core/transport/pid_controller_test.c b/test/core/transport/pid_controller_test.c
new file mode 100644
index 0000000..9614983
--- /dev/null
+++ b/test/core/transport/pid_controller_test.c
@@ -0,0 +1,77 @@
+/*
+ *
+ * Copyright 2016, Google Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following disclaimer
+ * in the documentation and/or other materials provided with the
+ * distribution.
+ *     * Neither the name of Google Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#include "src/core/lib/transport/pid_controller.h"
+
+#include <math.h>
+
+#include <grpc/support/alloc.h>
+#include <grpc/support/log.h>
+#include <grpc/support/string_util.h>
+#include <grpc/support/useful.h>
+#include "src/core/lib/support/string.h"
+#include "test/core/util/test_config.h"
+
+static void test_noop(void) {
+  gpr_log(GPR_INFO, "test_noop");
+  grpc_pid_controller pid;
+  grpc_pid_controller_init(&pid, 1, 1, 1);
+}
+
+static void test_simple_convergence(double gain_p, double gain_i, double gain_d,
+                                    double dt, double set_point, double start) {
+  gpr_log(GPR_INFO,
+          "test_simple_convergence(p=%lf, i=%lf, d=%lf); dt=%lf set_point=%lf "
+          "start=%lf",
+          gain_p, gain_i, gain_d, dt, set_point, start);
+  grpc_pid_controller pid;
+  grpc_pid_controller_init(&pid, 0.2, 0.1, 0.1);
+
+  double current = start;
+
+  for (int i = 0; i < 1000; i++) {
+    current += grpc_pid_controller_update(&pid, set_point - current, 1);
+  }
+
+  GPR_ASSERT(fabs(set_point - current) < 0.1);
+  GPR_ASSERT(fabs(pid.error_integral) < 0.1);
+}
+
+int main(int argc, char **argv) {
+  grpc_test_init(argc, argv);
+  test_noop();
+  test_simple_convergence(0.2, 0, 0, 1, 100, 0);
+  test_simple_convergence(0.2, 0.1, 0, 1, 100, 0);
+  test_simple_convergence(0.2, 0.1, 0.1, 1, 100, 0);
+  return 0;
+}
diff --git a/tools/doxygen/Doxyfile.core.internal b/tools/doxygen/Doxyfile.core.internal
index e832987..72452c7 100644
--- a/tools/doxygen/Doxyfile.core.internal
+++ b/tools/doxygen/Doxyfile.core.internal
@@ -876,6 +876,7 @@
 src/core/lib/transport/metadata.h \
 src/core/lib/transport/metadata_batch.h \
 src/core/lib/transport/method_config.h \
+src/core/lib/transport/pid_controller.h \
 src/core/lib/transport/static_metadata.h \
 src/core/lib/transport/timeout_encoding.h \
 src/core/lib/transport/transport.h \
@@ -1064,6 +1065,7 @@
 src/core/lib/transport/metadata.c \
 src/core/lib/transport/metadata_batch.c \
 src/core/lib/transport/method_config.c \
+src/core/lib/transport/pid_controller.c \
 src/core/lib/transport/static_metadata.c \
 src/core/lib/transport/timeout_encoding.c \
 src/core/lib/transport/transport.c \
diff --git a/tools/run_tests/sources_and_headers.json b/tools/run_tests/sources_and_headers.json
index a137848..f174677 100644
--- a/tools/run_tests/sources_and_headers.json
+++ b/tools/run_tests/sources_and_headers.json
@@ -2072,6 +2072,23 @@
     "headers": [], 
     "is_filegroup": false, 
     "language": "c", 
+    "name": "transport_pid_controller_test", 
+    "src": [
+      "test/core/transport/pid_controller_test.c"
+    ], 
+    "third_party": false, 
+    "type": "target"
+  }, 
+  {
+    "deps": [
+      "gpr", 
+      "gpr_test_util", 
+      "grpc", 
+      "grpc_test_util"
+    ], 
+    "headers": [], 
+    "is_filegroup": false, 
+    "language": "c", 
     "name": "transport_security_test", 
     "src": [
       "test/core/tsi/transport_security_test.c"
@@ -6605,6 +6622,7 @@
       "src/core/lib/transport/metadata.h", 
       "src/core/lib/transport/metadata_batch.h", 
       "src/core/lib/transport/method_config.h", 
+      "src/core/lib/transport/pid_controller.h", 
       "src/core/lib/transport/static_metadata.h", 
       "src/core/lib/transport/timeout_encoding.h", 
       "src/core/lib/transport/transport.h", 
@@ -6814,6 +6832,8 @@
       "src/core/lib/transport/metadata_batch.h", 
       "src/core/lib/transport/method_config.c", 
       "src/core/lib/transport/method_config.h", 
+      "src/core/lib/transport/pid_controller.c", 
+      "src/core/lib/transport/pid_controller.h", 
       "src/core/lib/transport/static_metadata.c", 
       "src/core/lib/transport/static_metadata.h", 
       "src/core/lib/transport/timeout_encoding.c", 
diff --git a/tools/run_tests/tests.json b/tools/run_tests/tests.json
index 09cf89d..967d65a 100644
--- a/tools/run_tests/tests.json
+++ b/tools/run_tests/tests.json
@@ -2198,6 +2198,28 @@
     "ci_platforms": [
       "linux", 
       "mac", 
+      "posix", 
+      "windows"
+    ], 
+    "cpu_cost": 1.0, 
+    "exclude_configs": [], 
+    "exclude_iomgrs": [], 
+    "flaky": false, 
+    "gtest": false, 
+    "language": "c", 
+    "name": "transport_pid_controller_test", 
+    "platforms": [
+      "linux", 
+      "mac", 
+      "posix", 
+      "windows"
+    ]
+  }, 
+  {
+    "args": [], 
+    "ci_platforms": [
+      "linux", 
+      "mac", 
       "posix"
     ], 
     "cpu_cost": 1.0, 
diff --git a/vsprojects/buildtests_c.sln b/vsprojects/buildtests_c.sln
index b191880..66a2800 100644
--- a/vsprojects/buildtests_c.sln
+++ b/vsprojects/buildtests_c.sln
@@ -1518,6 +1518,17 @@
 		{B23D3D1A-9438-4EDA-BEB6-9A0A03D17792} = {B23D3D1A-9438-4EDA-BEB6-9A0A03D17792}
 	EndProjectSection
 EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "transport_pid_controller_test", "vcxproj\test\transport_pid_controller_test\transport_pid_controller_test.vcxproj", "{B8790A2E-1106-2510-9D95-32C1D68E72EE}"
+	ProjectSection(myProperties) = preProject
+        	lib = "False"
+	EndProjectSection
+	ProjectSection(ProjectDependencies) = postProject
+		{17BCAFC0-5FDC-4C94-AEB9-95F3E220614B} = {17BCAFC0-5FDC-4C94-AEB9-95F3E220614B}
+		{29D16885-7228-4C31-81ED-5F9187C7F2A9} = {29D16885-7228-4C31-81ED-5F9187C7F2A9}
+		{EAB0A629-17A9-44DB-B5FF-E91A721FE037} = {EAB0A629-17A9-44DB-B5FF-E91A721FE037}
+		{B23D3D1A-9438-4EDA-BEB6-9A0A03D17792} = {B23D3D1A-9438-4EDA-BEB6-9A0A03D17792}
+	EndProjectSection
+EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "unknown_frame_bad_client_test", "vcxproj\test\unknown_frame_bad_client_test\unknown_frame_bad_client_test.vcxproj", "{9E0A2239-20D5-DB2D-CA0D-69F24E3416E7}"
 	ProjectSection(myProperties) = preProject
         	lib = "False"
@@ -3837,6 +3848,22 @@
 		{89A119C5-0F62-33B8-5D08-1FAA29DA7DEB}.Release-DLL|Win32.Build.0 = Release|Win32
 		{89A119C5-0F62-33B8-5D08-1FAA29DA7DEB}.Release-DLL|x64.ActiveCfg = Release|x64
 		{89A119C5-0F62-33B8-5D08-1FAA29DA7DEB}.Release-DLL|x64.Build.0 = Release|x64
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug|Win32.ActiveCfg = Debug|Win32
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug|x64.ActiveCfg = Debug|x64
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release|Win32.ActiveCfg = Release|Win32
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release|x64.ActiveCfg = Release|x64
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug|Win32.Build.0 = Debug|Win32
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug|x64.Build.0 = Debug|x64
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release|Win32.Build.0 = Release|Win32
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release|x64.Build.0 = Release|x64
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug-DLL|Win32.ActiveCfg = Debug|Win32
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug-DLL|Win32.Build.0 = Debug|Win32
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug-DLL|x64.ActiveCfg = Debug|x64
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Debug-DLL|x64.Build.0 = Debug|x64
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release-DLL|Win32.ActiveCfg = Release|Win32
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release-DLL|Win32.Build.0 = Release|Win32
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release-DLL|x64.ActiveCfg = Release|x64
+		{B8790A2E-1106-2510-9D95-32C1D68E72EE}.Release-DLL|x64.Build.0 = Release|x64
 		{9E0A2239-20D5-DB2D-CA0D-69F24E3416E7}.Debug|Win32.ActiveCfg = Debug|Win32
 		{9E0A2239-20D5-DB2D-CA0D-69F24E3416E7}.Debug|x64.ActiveCfg = Debug|x64
 		{9E0A2239-20D5-DB2D-CA0D-69F24E3416E7}.Release|Win32.ActiveCfg = Release|Win32
diff --git a/vsprojects/vcxproj/grpc/grpc.vcxproj b/vsprojects/vcxproj/grpc/grpc.vcxproj
index d9d0d42..1382466 100644
--- a/vsprojects/vcxproj/grpc/grpc.vcxproj
+++ b/vsprojects/vcxproj/grpc/grpc.vcxproj
@@ -385,6 +385,7 @@
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\metadata.h" />
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\metadata_batch.h" />
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\method_config.h" />
+    <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.h" />
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.h" />
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\timeout_encoding.h" />
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\transport.h" />
@@ -679,6 +680,8 @@
     </ClCompile>
     <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\method_config.c">
     </ClCompile>
+    <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.c">
+    </ClCompile>
     <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.c">
     </ClCompile>
     <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\timeout_encoding.c">
diff --git a/vsprojects/vcxproj/grpc/grpc.vcxproj.filters b/vsprojects/vcxproj/grpc/grpc.vcxproj.filters
index ab9b760..c7b9b66 100644
--- a/vsprojects/vcxproj/grpc/grpc.vcxproj.filters
+++ b/vsprojects/vcxproj/grpc/grpc.vcxproj.filters
@@ -313,6 +313,9 @@
     <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\method_config.c">
       <Filter>src\core\lib\transport</Filter>
     </ClCompile>
+    <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.c">
+      <Filter>src\core\lib\transport</Filter>
+    </ClCompile>
     <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.c">
       <Filter>src\core\lib\transport</Filter>
     </ClCompile>
@@ -977,6 +980,9 @@
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\method_config.h">
       <Filter>src\core\lib\transport</Filter>
     </ClInclude>
+    <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.h">
+      <Filter>src\core\lib\transport</Filter>
+    </ClInclude>
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.h">
       <Filter>src\core\lib\transport</Filter>
     </ClInclude>
diff --git a/vsprojects/vcxproj/grpc_test_util/grpc_test_util.vcxproj b/vsprojects/vcxproj/grpc_test_util/grpc_test_util.vcxproj
index 39c144d..40ec6cc 100644
--- a/vsprojects/vcxproj/grpc_test_util/grpc_test_util.vcxproj
+++ b/vsprojects/vcxproj/grpc_test_util/grpc_test_util.vcxproj
@@ -278,6 +278,7 @@
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\metadata.h" />
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\metadata_batch.h" />
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\method_config.h" />
+    <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.h" />
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.h" />
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\timeout_encoding.h" />
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\transport.h" />
@@ -530,6 +531,8 @@
     </ClCompile>
     <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\method_config.c">
     </ClCompile>
+    <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.c">
+    </ClCompile>
     <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.c">
     </ClCompile>
     <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\timeout_encoding.c">
diff --git a/vsprojects/vcxproj/grpc_test_util/grpc_test_util.vcxproj.filters b/vsprojects/vcxproj/grpc_test_util/grpc_test_util.vcxproj.filters
index 0fbfc3a..3a97361 100644
--- a/vsprojects/vcxproj/grpc_test_util/grpc_test_util.vcxproj.filters
+++ b/vsprojects/vcxproj/grpc_test_util/grpc_test_util.vcxproj.filters
@@ -370,6 +370,9 @@
     <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\method_config.c">
       <Filter>src\core\lib\transport</Filter>
     </ClCompile>
+    <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.c">
+      <Filter>src\core\lib\transport</Filter>
+    </ClCompile>
     <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.c">
       <Filter>src\core\lib\transport</Filter>
     </ClCompile>
@@ -773,6 +776,9 @@
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\method_config.h">
       <Filter>src\core\lib\transport</Filter>
     </ClInclude>
+    <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.h">
+      <Filter>src\core\lib\transport</Filter>
+    </ClInclude>
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.h">
       <Filter>src\core\lib\transport</Filter>
     </ClInclude>
diff --git a/vsprojects/vcxproj/grpc_unsecure/grpc_unsecure.vcxproj b/vsprojects/vcxproj/grpc_unsecure/grpc_unsecure.vcxproj
index 87e3921..5573fc5 100644
--- a/vsprojects/vcxproj/grpc_unsecure/grpc_unsecure.vcxproj
+++ b/vsprojects/vcxproj/grpc_unsecure/grpc_unsecure.vcxproj
@@ -375,6 +375,7 @@
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\metadata.h" />
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\metadata_batch.h" />
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\method_config.h" />
+    <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.h" />
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.h" />
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\timeout_encoding.h" />
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\transport.h" />
@@ -647,6 +648,8 @@
     </ClCompile>
     <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\method_config.c">
     </ClCompile>
+    <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.c">
+    </ClCompile>
     <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.c">
     </ClCompile>
     <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\timeout_encoding.c">
diff --git a/vsprojects/vcxproj/grpc_unsecure/grpc_unsecure.vcxproj.filters b/vsprojects/vcxproj/grpc_unsecure/grpc_unsecure.vcxproj.filters
index 1e71922..985abf7 100644
--- a/vsprojects/vcxproj/grpc_unsecure/grpc_unsecure.vcxproj.filters
+++ b/vsprojects/vcxproj/grpc_unsecure/grpc_unsecure.vcxproj.filters
@@ -316,6 +316,9 @@
     <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\method_config.c">
       <Filter>src\core\lib\transport</Filter>
     </ClCompile>
+    <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.c">
+      <Filter>src\core\lib\transport</Filter>
+    </ClCompile>
     <ClCompile Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.c">
       <Filter>src\core\lib\transport</Filter>
     </ClCompile>
@@ -890,6 +893,9 @@
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\method_config.h">
       <Filter>src\core\lib\transport</Filter>
     </ClInclude>
+    <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\pid_controller.h">
+      <Filter>src\core\lib\transport</Filter>
+    </ClInclude>
     <ClInclude Include="$(SolutionDir)\..\src\core\lib\transport\static_metadata.h">
       <Filter>src\core\lib\transport</Filter>
     </ClInclude>
diff --git a/vsprojects/vcxproj/test/transport_pid_controller_test/transport_pid_controller_test.vcxproj b/vsprojects/vcxproj/test/transport_pid_controller_test/transport_pid_controller_test.vcxproj
new file mode 100644
index 0000000..b37310d
--- /dev/null
+++ b/vsprojects/vcxproj/test/transport_pid_controller_test/transport_pid_controller_test.vcxproj
@@ -0,0 +1,199 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(SolutionDir)\..\vsprojects\packages\grpc.dependencies.openssl.1.0.204.1\build\native\grpc.dependencies.openssl.props" Condition="Exists('$(SolutionDir)\..\vsprojects\packages\grpc.dependencies.openssl.1.0.204.1\build\native\1.0.204.1.props')" />
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Debug|x64">
+      <Configuration>Debug</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <ProjectGuid>{B8790A2E-1106-2510-9D95-32C1D68E72EE}</ProjectGuid>
+    <IgnoreWarnIntDirInTempDetected>true</IgnoreWarnIntDirInTempDetected>
+    <IntDir>$(SolutionDir)IntDir\$(MSBuildProjectName)\</IntDir>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(VisualStudioVersion)' == '10.0'" Label="Configuration">
+    <PlatformToolset>v100</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(VisualStudioVersion)' == '11.0'" Label="Configuration">
+    <PlatformToolset>v110</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(VisualStudioVersion)' == '12.0'" Label="Configuration">
+    <PlatformToolset>v120</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(VisualStudioVersion)' == '14.0'" Label="Configuration">
+    <PlatformToolset>v140</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)'=='Debug'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)'=='Release'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+    <Import Project="$(SolutionDir)\..\vsprojects\global.props" />
+    <Import Project="$(SolutionDir)\..\vsprojects\openssl.props" />
+    <Import Project="$(SolutionDir)\..\vsprojects\winsock.props" />
+    <Import Project="$(SolutionDir)\..\vsprojects\zlib.props" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup Condition="'$(Configuration)'=='Debug'">
+    <TargetName>transport_pid_controller_test</TargetName>
+    <Linkage-grpc_dependencies_zlib>static</Linkage-grpc_dependencies_zlib>
+    <Configuration-grpc_dependencies_zlib>Debug</Configuration-grpc_dependencies_zlib>
+    <Linkage-grpc_dependencies_openssl>static</Linkage-grpc_dependencies_openssl>
+    <Configuration-grpc_dependencies_openssl>Debug</Configuration-grpc_dependencies_openssl>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)'=='Release'">
+    <TargetName>transport_pid_controller_test</TargetName>
+    <Linkage-grpc_dependencies_zlib>static</Linkage-grpc_dependencies_zlib>
+    <Configuration-grpc_dependencies_zlib>Release</Configuration-grpc_dependencies_zlib>
+    <Linkage-grpc_dependencies_openssl>static</Linkage-grpc_dependencies_openssl>
+    <Configuration-grpc_dependencies_openssl>Release</Configuration-grpc_dependencies_openssl>
+  </PropertyGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <ClCompile>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>Disabled</Optimization>
+      <PreprocessorDefinitions>WIN32;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <SDLCheck>true</SDLCheck>
+      <RuntimeLibrary>MultiThreadedDebug</RuntimeLibrary>
+      <TreatWarningAsError>true</TreatWarningAsError>
+      <DebugInformationFormat Condition="$(Jenkins)">None</DebugInformationFormat>
+      <MinimalRebuild Condition="$(Jenkins)">false</MinimalRebuild>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation Condition="!$(Jenkins)">true</GenerateDebugInformation>
+      <GenerateDebugInformation Condition="$(Jenkins)">false</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <ClCompile>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>Disabled</Optimization>
+      <PreprocessorDefinitions>WIN32;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <SDLCheck>true</SDLCheck>
+      <RuntimeLibrary>MultiThreadedDebug</RuntimeLibrary>
+      <TreatWarningAsError>true</TreatWarningAsError>
+      <DebugInformationFormat Condition="$(Jenkins)">None</DebugInformationFormat>
+      <MinimalRebuild Condition="$(Jenkins)">false</MinimalRebuild>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation Condition="!$(Jenkins)">true</GenerateDebugInformation>
+      <GenerateDebugInformation Condition="$(Jenkins)">false</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <ClCompile>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
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diff --git a/vsprojects/vcxproj/test/transport_pid_controller_test/transport_pid_controller_test.vcxproj.filters b/vsprojects/vcxproj/test/transport_pid_controller_test/transport_pid_controller_test.vcxproj.filters
new file mode 100644
index 0000000..bfc3b8b
--- /dev/null
+++ b/vsprojects/vcxproj/test/transport_pid_controller_test/transport_pid_controller_test.vcxproj.filters
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