I'm guessing that it is this one https://www.electronicdesign.com/technologies/analog/article/21799232/whats-all-this-pid-stuff-anyhow https://www.electronicdes

I'm guessing that it is this one https://www.electronicdesign.com/technologies/analog/article/21799232/whats-all-this-pid-stuff-anyhow https://www.electronicdesign.com/technologies/analog/article... Unfortunately it looks like all the figures are 404 on the article, fortunately IA seems to have them https://web.archive.org/web/20201112004309/https://www.electronicdesign.com/technologies/analog/article/21799232/whats-all-this-pid-stuff-anyhow https://web.archive.org/web/20201112004309/https://www.elect... Edit: Bit of a funny aside; the editor who wrote the subtitle incorrectly identifies the P in PID as "Peripheral" even though the article correctly states it is "Proportional" in the fourth paragraph.