I just found that Nationa Instrument course on PID Control
http://www.ni.com/academic/eng…engineering/controls/pid/
http://www.ni.com/academic/eng…engineering/controls/pid/[/url]]
Teaching PID Control
Proportional integral derivative (PID) is a common algorithm used in control system design and taught in most controls courses. Using PID control requires a deep understanding of mathematical theory as well as experience designing and creating PID control systems. Learn how students can begin bridging the connection from theory to practice through experiential learning so that they can use PID control in their own control system designs.
may be useful for beginners, and even maybe for knowledgeable implementors.