Camera Stabilizer with MPU6050 IMU

Hi Guys, I am designing a new camera stabilizer with arduino uno and MPU6050. basically I've finished 4 steps for camera stabilizer. 1:find a I2C address for MPU6050 2:get raw values from mpu 6050 convert to meaningful data. 3:get roll and pitch values from accelerometer and gyroscope. 4:use a Kalman or complementary filter for better result. Finally I would like to implement PID into my system. Do you have any idea how to implement it ?

You could use the PID library.