diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..32d048f
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,2 @@
+pid_from_msl: pid_from_msl.cpp
+	g++ -std=c++17 -fpermissive -O3 -static -o pid_from_msl.exe pid_from_msl.cpp googletest/gtest-all.cpp googletest/gmock-all.cpp -Igoogletest/googletest -Igoogletest/googletest/include -Igoogletest/googlemock/include
diff --git a/pid_open_loop_models.h b/pid_open_loop_models.h
index 85d6b30..85c3659 100644
Binary files a/pid_open_loop_models.h and b/pid_open_loop_models.h differ