diff --git a/selfdrive/controls/lib/pid.py b/common/pid.py
similarity index 100%
rename from selfdrive/controls/lib/pid.py
rename to common/pid.py
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index 5b29958b69..d7edd39f8a 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -2,7 +2,7 @@ import math
 
 from cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
-from openpilot.selfdrive.controls.lib.pid import PIDController
+from openpilot.common.pid import PIDController
 
 
 class LatControlPID(LatControl):
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 1c4fd7979e..55a37c1f4b 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -4,7 +4,7 @@ from cereal import log
 from opendbc.car.interfaces import LatControlInputs
 from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
-from openpilot.selfdrive.controls.lib.pid import PIDController
+from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
 # At higher speeds (25+mph) we can assume:
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index efeb76c4a8..e18ee0c279 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -2,7 +2,7 @@ from cereal import car
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
-from openpilot.selfdrive.controls.lib.pid import PIDController
+from openpilot.common.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py
index f32133f6bf..f72e183cde 100755
--- a/system/hardware/fan_controller.py
+++ b/system/hardware/fan_controller.py
@@ -4,7 +4,7 @@ from abc import ABC, abstractmethod
 from openpilot.common.realtime import DT_HW
 from openpilot.common.numpy_fast import interp
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.controls.lib.pid import PIDController
+from openpilot.common.pid import PIDController
 
 class BaseFanController(ABC):
   @abstractmethod