I think this is a good introduction to PID for people who don't want to have to dive into the nitty gritty. Linear feedback controls is a complex but complete t

I think this is a good introduction to PID for people who don't want to have to dive into the nitty gritty. Linear feedback controls is a complex but complete theory and it would take at least a semester at a university to understand the theory behind time and frequency domain design and the effects of discretization.