diff --git a/cheetah/converters/pals.py b/cheetah/converters/pals.py
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+"""
+Cheetah to PALS converter module.
+
+This module provides functions to convert Cheetah lattice elements and segments
+to the PALS (Particle Accelerator Lattice Standard) format.
+
+Based on the PALS specification: https://pals-project.readthedocs.io/
+"""
+import json
+import warnings
+from pathlib import Path
+from typing import Any, Dict, Union
+
+import torch
+import yaml
+
+import cheetah
+from cheetah.utils import UnknownElementWarning
+
+
+def convert_element_to_pals(
+    element: "cheetah.Element",
+    name: str = None,
+) -> Dict[str, Any]:
+    """
+    Convert a Cheetah element to PALS format.
+    
+    :param element: Cheetah element to convert.
+    :param name: Name for the element. If None, uses element.name or generates one.
+    :return: Dictionary representing the element in PALS format.
+    """
+    element_type = type(element).__name__
+    
+    # Map Cheetah element types to PALS element kinds
+    element_mapping = {
+        'Drift': 'Drift',
+        'Quadrupole': 'Quadrupole',
+        'Dipole': 'RBend',
+        'RBend': 'RBend',
+        'BPM': 'Instrument',
+        'Marker': 'Marker',
+        'Screen': 'Instrument',
+        'Aperture': 'Mask',
+        'HorizontalCorrector': 'Kicker',
+        'VerticalCorrector': 'Kicker',
+        'TransverseDeflectingCavity': 'RFCavity',
+        'Cavity': 'RFCavity',
+        'Solenoid': 'Solenoid',
+        'Sextupole': 'Sextupole',
+    }
+    
+    if element_type not in element_mapping:
+        warnings.warn(
+            f"Element type '{element_type}' is not supported in PALS conversion. "
+            "Converting to Marker element.",
+            UnknownElementWarning,
+        )
+        element_mapping[element_type] = 'Marker'
+    
+    pals_kind = element_mapping[element_type]
+    
+    # Generate element name
+    element_name = name or getattr(element, 'name', None) or f"{element_type.lower()}_0"
+    
+    # Base element structure
+    pals_element = {'kind': pals_kind}
+    
+    # Add length if element has it
+    if hasattr(element, 'length') and element.length is not None:
+        length_val = _extract_tensor_value(element.length)
+        pals_element['length'] = length_val
+    
+    # Add element-specific parameters based on type
+    if element_type == 'Quadrupole':
+        pals_element.update(_convert_quadrupole_params(element))
+    elif element_type in ['Dipole', 'RBend']:
+        pals_element.update(_convert_dipole_params(element))
+    elif element_type in ['HorizontalCorrector', 'VerticalCorrector']:
+        pals_element.update(_convert_corrector_params(element))
+    elif element_type in ['TransverseDeflectingCavity', 'Cavity']:
+        pals_element.update(_convert_cavity_params(element))
+    elif element_type == 'Aperture':
+        pals_element.update(_convert_aperture_params(element))
+    elif element_type == 'Solenoid':
+        pals_element.update(_convert_solenoid_params(element))
+    elif element_type == 'Sextupole':
+        pals_element.update(_convert_sextupole_params(element))
+    
+    return {element_name: pals_element}
+
+
+def convert_segment_to_pals(
+    segment: "cheetah.Segment",
+    lattice_name: str = "Converted_Lattice",
+) -> Dict[str, Any]:
+    """
+    Convert a Cheetah Segment to PALS format.
+    
+    :param segment: Cheetah Segment object to convert.
+    :param lattice_name: Name for the PALS lattice.
+    :return: Dictionary representing the lattice in PALS format.
+    """
+    pals_elements = {}
+    element_names = []
+    
+    # Add BeginningEle element (required as first element in PALS)
+    beginning_name = 'beginning'
+    pals_elements[beginning_name] = {'kind': 'BeginningEle'}
+    element_names.append(beginning_name)
+    
+    # Convert each element in the segment
+    for i, element in enumerate(segment.elements):
+        # Generate unique name if element doesn't have one
+        base_name = getattr(element, 'name', None) or f"{type(element).__name__.lower()}_{i}"
+        
+        # Ensure unique names
+        element_name = base_name
+        counter = 1
+        while element_name in pals_elements:
+            element_name = f"{base_name}_{counter}"
+            counter += 1
+        
+        pals_element_dict = convert_element_to_pals(element, element_name)
+        pals_elements.update(pals_element_dict)
+        element_names.append(element_name)
+    
+    # Add final marker (required as last element in PALS)
+    end_marker_name = 'end_marker'
+    pals_elements[end_marker_name] = {'kind': 'Marker'}
+    element_names.append(end_marker_name)
+    
+    # Create the beamline
+    beamline_name = f"{lattice_name}_line"
+    pals_elements[beamline_name] = {
+        'kind': 'BeamLine',
+        'line': element_names
+    }
+    
+    # Create the main lattice structure
+    pals_elements['Lattice'] = {
+        'name': lattice_name,
+        'branches': [beamline_name]
+    }
+    
+    return pals_elements
+
+
+def _extract_tensor_value(tensor_value: Union[torch.Tensor, float, int]) -> float:
+    """Extract float value from tensor or numeric type."""
+    if hasattr(tensor_value, 'item'):
+        return float(tensor_value.item())
+    else:
+        return float(tensor_value)
+
+
+def _convert_quadrupole_params(element) -> Dict[str, Any]:
+    """Convert Cheetah Quadrupole parameters to PALS format."""
+    params = {}
+    
+    if hasattr(element, 'k1') and element.k1 is not None:
+        k1_val = _extract_tensor_value(element.k1)
+        length_val = _extract_tensor_value(element.length)
+        
+        params['MagneticMultipoleP'] = {
+            'Kn1L': k1_val * length_val  # PALS uses integrated strength
+        }
+    
+    return params
+
+
+def _convert_dipole_params(element) -> Dict[str, Any]:
+    """Convert Cheetah Dipole parameters to PALS format."""
+    params = {}
+    
+    # Bend parameters
+    if hasattr(element, 'angle') and element.angle is not None:
+        angle_val = _extract_tensor_value(element.angle)
+        params['BendP'] = {'angle_ref': angle_val}
+    
+    # Add magnetic multipole if there are higher order terms
+    if hasattr(element, 'k1') and element.k1 is not None:
+        k1_val = _extract_tensor_value(element.k1)
+        if k1_val != 0:
+            length_val = _extract_tensor_value(element.length)
+            if 'MagneticMultipoleP' not in params:
+                params['MagneticMultipoleP'] = {}
+            params['MagneticMultipoleP']['Kn1L'] = k1_val * length_val
+    
+    return params
+
+
+def _convert_corrector_params(element) -> Dict[str, Any]:
+    """Convert Cheetah Corrector parameters to PALS format."""
+    params = {}
+    element_type = type(element).__name__
+    
+    if hasattr(element, 'angle') and element.angle is not None:
+        angle_val = _extract_tensor_value(element.angle)
+        
+        if element_type == 'HorizontalCorrector':
+            params['KickerP'] = {'hkick': angle_val}
+        else:  # VerticalCorrector
+            params['KickerP'] = {'vkick': angle_val}
+    
+    return params
+
+
+def _convert_cavity_params(element) -> Dict[str, Any]:
+    """Convert Cheetah Cavity parameters to PALS format."""
+    params = {}
+    rf_params = {}
+    
+    if hasattr(element, 'voltage') and element.voltage is not None:
+        rf_params['voltage'] = _extract_tensor_value(element.voltage)
+    
+    if hasattr(element, 'phase') and element.phase is not None:
+        rf_params['phi'] = _extract_tensor_value(element.phase)
+    
+    if hasattr(element, 'frequency') and element.frequency is not None:
+        rf_params['frequency'] = _extract_tensor_value(element.frequency)
+    
+    if rf_params:
+        params['RFP'] = rf_params
+    
+    return params
+
+
+def _convert_aperture_params(element) -> Dict[str, Any]:
+    """Convert Cheetah Aperture parameters to PALS format."""
+    params = {}
+    aperture_params = {}
+    
+    if hasattr(element, 'x_max') and element.x_max is not None:
+        x_max_val = _extract_tensor_value(element.x_max)
+        aperture_params['x_limit'] = [-x_max_val, x_max_val]
+    
+    if hasattr(element, 'y_max') and element.y_max is not None:
+        y_max_val = _extract_tensor_value(element.y_max)
+        aperture_params['y_limit'] = [-y_max_val, y_max_val]
+    
+    if aperture_params:
+        params['ApertureP'] = aperture_params
+    
+    return params
+
+
+def _convert_solenoid_params(element) -> Dict[str, Any]:
+    """Convert Cheetah Solenoid parameters to PALS format."""
+    params = {}
+    
+    if hasattr(element, 'k') and element.k is not None:
+        k_val = _extract_tensor_value(element.k)
+        length_val = _extract_tensor_value(element.length)
+        
+        params['SolenoidP'] = {
+            'KsL': k_val * length_val  # Integrated solenoid strength
+        }
+    
+    return params
+
+
+def _convert_sextupole_params(element) -> Dict[str, Any]:
+    """Convert Cheetah Sextupole parameters to PALS format."""
+    params = {}
+    
+    if hasattr(element, 'k2') and element.k2 is not None:
+        k2_val = _extract_tensor_value(element.k2)
+        length_val = _extract_tensor_value(element.length)
+        
+        params['MagneticMultipoleP'] = {
+            'Kn2L': k2_val * length_val  # Integrated sextupole strength
+        }
+    
+    return params
+
+
+def save_pals_to_yaml(
+    pals_dict: Dict[str, Any],
+    filename: Union[str, Path],
+) -> None:
+    """
+    Save PALS dictionary to YAML file.
+    
+    :param pals_dict: PALS lattice dictionary.
+    :param filename: Output filename (should end with .pals.yaml).
+    """
+    with open(filename, 'w') as f:
+        yaml.dump(pals_dict, f, default_flow_style=False, sort_keys=False)
+
+
+def save_pals_to_json(
+    pals_dict: Dict[str, Any],
+    filename: Union[str, Path],
+) -> None:
+    """
+    Save PALS dictionary to JSON file.
+    
+    :param pals_dict: PALS lattice dictionary.
+    :param filename: Output filename (should end with .pals.json).
+    """
+    with open(filename, 'w') as f:
+        json.dump(pals_dict, f, indent=2)
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