diff --git a/examples/fuzzypid/fuzzypid1.py b/examples/fuzzypid/fuzzypid1.py
index 51d018992..a3d65f8c5 100644
--- a/examples/fuzzypid/fuzzypid1.py
+++ b/examples/fuzzypid/fuzzypid1.py
@@ -41,19 +41,16 @@ fuzzy_pid_params = FuzzyPIDParams([
     [0.65, 0, 0, 0, 0, 0, 1],
     [-0.34, 0, 0, 0, 0, 0, 1],
     [-1.1, 0, 0, 0, 0, 0, 1],
-    [-2.4, 0, 0, 0, 0, 0, 1],
-    [1.2, 0, 0, 0, 0, 0, 1],
-    [1.2, 0.05, 0.1, 0, 0, 0, 1],
 ])
 
-direct = PIDDirect([True, False, False, False, True, True])
+direct = PIDDirect([True, False, False])
 
 fuzzy_pid_controller = FuzzyPIDController(
     rule_base, mf_params, fuzzy_pid_params, direct=direct)
 
 max_error = 100
 middle_pwm_output = 500
-control_id = 5
+control_id = 2
 real = 0
 idea = max_error * 0.9
 print("idea value: ", idea)
diff --git a/package/fuzzypid/_fuzzypid.c b/package/fuzzypid/_fuzzypid.c
index 6d64d9e24..3c588391d 100644
--- a/package/fuzzypid/_fuzzypid.c
+++ b/package/fuzzypid/_fuzzypid.c
@@ -168,12 +168,19 @@ void _fuzzypid_FuzzyPIDController___init__(PikaObj* self,
     int* rules = obj_getPtr(rule_base, "rules");
     int* mf_params_mat = obj_getPtr(mf_params, "mf_params");
     float* fuzzy_pid_params = obj_getPtr(pid_params, "fuzzy_pid_params");
-    int DOF = obj_getInt(pid_params, "DOF");
+    int DOF_pid_parms = obj_getInt(pid_params, "DOF");
+    int DOF_direct = obj_getInt(direct, "DOF");
+    if (DOF_pid_parms != DOF_direct) {
+        obj_setSysOut(self,
+                      "Error: pid_params and direct must have the same length");
+        obj_setErrorCode(self, -__LINE__);
+        return;
+    }
     struct PID** pid_vector = fuzzy_pid_vector_init(
         (float(*)[pid_params_count])fuzzy_pid_params, delta_k, mf_type, fo_type,
-        df_type, mf_params_mat, (int(*)[pid_params_count])rules, DOF);
+        df_type, mf_params_mat, (int(*)[pid_params_count])rules, DOF_pid_parms);
     obj_setPtr(self, "pid_vector", pid_vector);
-    obj_setInt(self, "DOF", DOF);
+    obj_setInt(self, "DOF", DOF_pid_parms);
     obj_setPtr(self, "direct_vector", obj_getPtr(direct, "direct_vector"));
 }
 
@@ -191,6 +198,12 @@ pika_float _fuzzypid_FuzzyPIDController_compute_output(PikaObj* self,
                                                        pika_float input) {
     struct PID** pid_vector = obj_getPtr(self, "pid_vector");
     pika_bool* direct_vector = obj_getPtr(self, "direct_vector");
+    int DOF = obj_getInt(self, "DOF");
+    if (control_id < 0 || control_id >= DOF) {
+        obj_setSysOut(self, "Error: control_id out of range");
+        obj_setErrorCode(self, -__LINE__);
+        return 0;
+    }
     return fuzzy_pid_motor_pwd_output(real, input, direct_vector[control_id],
                                       pid_vector[control_id]);
 }
diff --git a/port/linux/package/pikascript/pikascript-lib/fuzzypid/_fuzzypid.c b/port/linux/package/pikascript/pikascript-lib/fuzzypid/_fuzzypid.c
index 6d64d9e24..3c588391d 100644
--- a/port/linux/package/pikascript/pikascript-lib/fuzzypid/_fuzzypid.c
+++ b/port/linux/package/pikascript/pikascript-lib/fuzzypid/_fuzzypid.c
@@ -168,12 +168,19 @@ void _fuzzypid_FuzzyPIDController___init__(PikaObj* self,
     int* rules = obj_getPtr(rule_base, "rules");
     int* mf_params_mat = obj_getPtr(mf_params, "mf_params");
     float* fuzzy_pid_params = obj_getPtr(pid_params, "fuzzy_pid_params");
-    int DOF = obj_getInt(pid_params, "DOF");
+    int DOF_pid_parms = obj_getInt(pid_params, "DOF");
+    int DOF_direct = obj_getInt(direct, "DOF");
+    if (DOF_pid_parms != DOF_direct) {
+        obj_setSysOut(self,
+                      "Error: pid_params and direct must have the same length");
+        obj_setErrorCode(self, -__LINE__);
+        return;
+    }
     struct PID** pid_vector = fuzzy_pid_vector_init(
         (float(*)[pid_params_count])fuzzy_pid_params, delta_k, mf_type, fo_type,
-        df_type, mf_params_mat, (int(*)[pid_params_count])rules, DOF);
+        df_type, mf_params_mat, (int(*)[pid_params_count])rules, DOF_pid_parms);
     obj_setPtr(self, "pid_vector", pid_vector);
-    obj_setInt(self, "DOF", DOF);
+    obj_setInt(self, "DOF", DOF_pid_parms);
     obj_setPtr(self, "direct_vector", obj_getPtr(direct, "direct_vector"));
 }
 
@@ -191,6 +198,12 @@ pika_float _fuzzypid_FuzzyPIDController_compute_output(PikaObj* self,
                                                        pika_float input) {
     struct PID** pid_vector = obj_getPtr(self, "pid_vector");
     pika_bool* direct_vector = obj_getPtr(self, "direct_vector");
+    int DOF = obj_getInt(self, "DOF");
+    if (control_id < 0 || control_id >= DOF) {
+        obj_setSysOut(self, "Error: control_id out of range");
+        obj_setErrorCode(self, -__LINE__);
+        return 0;
+    }
     return fuzzy_pid_motor_pwd_output(real, input, direct_vector[control_id],
                                       pid_vector[control_id]);
 }
diff --git a/port/linux/test/python/fuzzypid/fuzzypid1.py b/port/linux/test/python/fuzzypid/fuzzypid1.py
index 51d018992..a3d65f8c5 100644
--- a/port/linux/test/python/fuzzypid/fuzzypid1.py
+++ b/port/linux/test/python/fuzzypid/fuzzypid1.py
@@ -41,19 +41,16 @@ fuzzy_pid_params = FuzzyPIDParams([
     [0.65, 0, 0, 0, 0, 0, 1],
     [-0.34, 0, 0, 0, 0, 0, 1],
     [-1.1, 0, 0, 0, 0, 0, 1],
-    [-2.4, 0, 0, 0, 0, 0, 1],
-    [1.2, 0, 0, 0, 0, 0, 1],
-    [1.2, 0.05, 0.1, 0, 0, 0, 1],
 ])
 
-direct = PIDDirect([True, False, False, False, True, True])
+direct = PIDDirect([True, False, False])
 
 fuzzy_pid_controller = FuzzyPIDController(
     rule_base, mf_params, fuzzy_pid_params, direct=direct)
 
 max_error = 100
 middle_pwm_output = 500
-control_id = 5
+control_id = 2
 real = 0
 idea = max_error * 0.9
 print("idea value: ", idea)