This is how I teach middle school and high school students basic controls. They implement and tune a proportional controller, then the derivative part, and then

This is how I teach middle school and high school students basic controls. They implement and tune a proportional controller, then the derivative part, and then I give them a feedforward model for the plant (usually a brushed DC motor.) The PD controller and feedforward is very easy to write and is quite approachable once you see how simple it is, and it can be very exciting to see a motor “do as you command” before your eyes. I avoid integral control because it’s less effective and much harder to deal with than good feedforward. Most of the mechanisms we use (in the FIRST Robotics context) have a feedforward model and good system-identification tools so this works out well.