diff --git a/config-example.yaml b/config-example.yaml
index 28a3bab..bea831e 100644
--- a/config-example.yaml
+++ b/config-example.yaml
@@ -6,8 +6,10 @@
 # otherwise INFO is a good value.
 loglevel: DEBUG
 
-# Set interval (seconds) in which PyFan is checking your temp sources and adjusts PWM values.
-interval: 1
+# Frequency in seconds of feeding sensors values into PID. Higher frequency (lower value) means PID can react faster.
+# Fans only get set every thermalzones->interval seconds, regardless of this value.
+# Must be lower then your lowest thermalzone interval.
+pid_interval: 0.2
 
 thermalzones:
   - name: GPU+SYSTEM
@@ -19,6 +21,11 @@ thermalzones:
     # If not, check what you sensor is outputting if you try to read from it.
     factor: 1000
 
+    # Frequency in which fan speed should be adjusted in seconds.
+    # PyFan reads sensors values from hwmon every pid_interval, but only sets fan speeds in this interval.
+    # Can't be lower then pid_interval.
+    interval: 3
+
     # Define all fans that this thermal zone is going to control.
     # There is no limit to how many fans one thermal zone can control.
     # You can have different limitations on your fans, for example:
@@ -50,6 +57,7 @@ thermalzones:
       - coretemp/temp1_input
       - amdgpu/temp1_input
     factor: 1000
+    interval: 3
     fan:
       - it8686/pwm1: [ 100, 200 ]
     target: 50
diff --git a/pyfan.py b/pyfan.py
index f1351e5..577d32b 100644
--- a/pyfan.py
+++ b/pyfan.py
@@ -15,17 +15,25 @@ class ThermalZone:
     def __init__(self, config, pyfan_parent) -> None:
         self.fans = config["fan"]
         self.temp_source = config["source"]
-        self.pid = PID(config["pid"]["p"], config["pid"]["i"], config["pid"]["d"], setpoint=0)
-        self.pid.output_limits = (0, 255)
         self.factor = 1 / config["factor"]
         self.name = config["name"]
         self.target = config["target"]
-        self.hwmap = pyfan_parent.hwmap
         self.pyfan = pyfan_parent
+        self.hwmap = self.pyfan.hwmap
         self.alias_replace = re.compile("|".join(self.hwmap.keys()))
+
+        if "interval" not in config:
+            config["interval"] = 3
+            logging.getLogger("pyfan").warning(
+                "[%s] No interval specified, using default. This is deprecated since 1.6 and may be removed in future "
+                "versions. See example config for reference.", self.name)
+
+        self.pid = PID(config["pid"]["p"], config["pid"]["i"], config["pid"]["d"], setpoint=0,
+                       sample_time=config["interval"])
+        self.pid.output_limits = (0, 255)
         self.setup_pwm()
 
-        logging.getLogger("pyfan").info("[%s] Source=%s Fans=%s Factor=%d PID=%s", self.name, self.temp_source,
+        logging.getLogger("pyfan").info("[%s] Source=%s Fans=%s Factor=%f %s", self.name, self.temp_source,
                                         self.fans, self.factor, self.pid)
 
     def eval(self):
@@ -44,20 +52,21 @@ class ThermalZone:
                                 logging.getLogger("pyfan").warning(
                                     "[%s] max/min for %s was not set correctly (%s)", self.name, fan, fan_val)
 
-                            self.write_sysfs(fan, min(fan_val[1], max(val, fan_val[0])))
-                        else:
+                            if self.read_sysfs(fan) != min(fan_val[1], max(val, fan_val[0])):
+                                self.write_sysfs(fan, min(fan_val[1], max(val, fan_val[0])))
+                        elif self.read_sysfs(fan) != min(val, fan_val):
                             self.write_sysfs(fan, min(val, fan_val))
 
                         logging.getLogger("pyfan").debug("[%s] %s=%i%%", self.name, fan,
                                                          int(int(self.read_sysfs(fan)) / 255 * 100))
-                    else:
+                    elif self.read_sysfs(target_fan) != val:
                         self.write_sysfs(target_fan, val)
             except OSError as err:
                 logging.getLogger("pyfan").warning("[%s] Failed to set pwm, trying to reset it. (%s)", self.name,
                                                    err.strerror)
                 self.setup_pwm(1)
 
-            logging.getLogger("pyfan").debug("[%s] %i%% D:%iC T:%iC pid:%s", self.name, int(val / 255 * 100), diff,
+            logging.getLogger("pyfan").debug("[%s] %i%% D:%iC T:%iC %s", self.name, int(val / 255 * 100), diff,
                                              self.get_temp(), self.pid)
 
     def get_temp(self):
@@ -118,18 +127,19 @@ class PyFan:
         self.config = self.__load_config(config)
         logging.basicConfig(level=logging.getLevelName(self.config["loglevel"]))
         self.zones = []
-        self._hwmon_map = {}
-
-        if "interval" in self.config:
-            self.interval = self.config["interval"]
+        if "pid_interval" not in self.config:
+            self.interval = 0.2
+            logging.getLogger("pyfan").warning(
+                "No pid_interval specified, using default. This is deprecated since 1.6 and may be removed in future "
+                "versions. See example config for reference.")
         else:
-            self.interval = 1
+            self.interval = self.config["pid_interval"]
 
         for zone in self.config["thermalzones"]:
             self.zones.append(ThermalZone(zone, self))
 
         logging.getLogger("pyfan").info(
-            "Finished creating %d thermal zones, checking all %d seconds", len(self.zones), self.interval)
+            "Created %d thermal zones, pid_interval=%f.", len(self.zones), self.interval)
 
     def __enter__(self):
         return self
@@ -144,16 +154,16 @@ class PyFan:
 
     @property
     def hwmap(self):
-        self._hwmon_map.clear()
+        hwmon_map = {}
 
         names = glob.glob(SYSFS_HWMON_BASE + "hwmon*/name")
 
         for name in names:
             hwmon = name.split("/")[-2]
             with open(name) as file:
-                hwname = file.read().strip()
-            self._hwmon_map[hwname] = hwmon
-        return self._hwmon_map
+                hw_name = file.read().strip()
+            hwmon_map[hw_name] = hwmon
+        return hwmon_map
 
     @staticmethod
     def __load_config(path):