Adjust minted code inside Minipage environment

I’m trying to show an equation on one side and its algortihm on the other. I tried using two minipages (one for equations and the other for algorithms) but it doesn’t look beautiful; howerver, with the following code it works well except for the horizontal space appearing on the last two line as you can see on the picture. How can I fix that ?

documentclass[12pt]{article}
usepackage[margin=1in]{geometry}
usepackage{relsize}
usepackage[cache=false]{minted}
usemintedstyle{tango}
usepackage{extarrows}

begin{document}
section{Codage du PID}
On précise que l'angle à réguler va être celui de l'axe textbf{X} qui est parallèle à la tige. Pour le régulateur textbf{PID} on utilise les commandes temporelle mentionnées dans la partie théorique.\[5mm]
begin{minipage}{0.5textwidth}
$mathbf{mathlarger{u(t)=K_P * e(t)}} $ hspace{7.1mm} $xrightarrow{makebox[1cm]{code}}$
end{minipage}
begin{minipage}{0.4textwidth}
begin{minted}[bgcolor=black!4]{c}
proportionnel=Kp*erreur 
end{minted}
end{minipage}

begin{minipage}{0.36textwidth}
$mathbf{mathlarger{noindent u(t)=K_I *int{e(t)dt}}}$ hspace{1.9mm} $xrightarrow{makebox[1cm]{code}}$
end{minipage}
begin{minipage}{0.65textwidth}
begin{minted}[bgcolor=black!4]{c}
integral=integral_précédent+erreur*temps_écoulé
end{minted}
end{minipage}

begin{minipage}{0.36textwidth}
$mathbf{mathlarger{noindent u(t)=K_Dfrac{de(t)}{dt}}}$ hspace{6.8mm} $xrightarrow{makebox[1cm]{code}}$
end{minipage}
begin{minipage}{0.63textwidth}
begin{minted}[bgcolor=black!4]{c}
dérivé=(erreur-erreur_précédente)/temps_écoulé
end{minted}
end{minipage}
end{document}