May 18, 2020

PID Without a PhD [1] is an excellent paper that gives a good intuition for PID controllers. In addition, it has concrete advice on how to go about implementing a practical control scheme, and how to tune the PID constants.

It's really my go-to reference for any practical control theory application.

[1]: https://www.wescottdesign.com/articles/pid/pidWithoutAPhd.pd...