diff --git a/PID_Test.c b/PID_Test.c
index 775f155..f796fc7 100644
--- a/PID_Test.c
+++ b/PID_Test.c
@@ -27,10 +27,10 @@ float TestSystem_Update(float inp);
 int main()
 {
     /* Initialise PID controller */
-    PIDController pid = { PID_KP, PID_KI, -PID_KD,
+    PIDController pid = { PID_KP, PID_KI, PID_KD,
                           PID_TAU,
                           PID_LIM_MIN, PID_LIM_MAX,
-						  PID_LIM_MIN_INT, PID_LIM_MAX_INT,
+			  PID_LIM_MIN_INT, PID_LIM_MAX_INT,
                           SAMPLE_TIME_S };
 
     PIDController_Init(&pid);