I want to implement PID controller. I have a device which gives me stream data with sample rate 1KHz (0.001 second). How can I use NR to calculate the derivative and integral of stream data?

Example of my data:
0
19.2347
-2.74781
19.2348
-2.74782
19.2348
16.487
-2.74783
19.2349
-2.74785
19.2907
16.4757
35.7612
13.727
16.3477
35.7845

Another question about the efficiency of NR? Is it enough for my experiment?