If you like the article, the author Tim Wescott went on to write an entire book on applied control theory for embedded systems: http://smile.amazon.com/Applied

If you like the article, the author Tim Wescott went on to write an entire book on applied control theory for embedded systems: http://smile.amazon.com/Applied-Control-Embedded-Systems-Technology/dp/0750678399 http://smile.amazon.com/Applied-Control-Embedded-Systems-Tec...