Comment by baylessj

George Gillard's PID document is circulated widely for teaching high school students about PID for the VEX Robotics Competition: https://smithcsrobot.weebly.com/uploads/6/0/9/5/60954939/pid... I'd also add a +1 to the suggestion of the Controls Engineering in FRC book, but the math in that book is significantly more complex than Gillard's guide.