PID without a PhD

On EETIMES:
PID without a PhD

Editor's Note: Tim Wescott's "PID without a PhD" was originally published Embedded Systems Programming in October 2000. The article became a huge hit over the years and was "repurposed" by other sites, such as EE Times India, and linked to by many sites, such as Wikipedia. We knew this was a popular article and it remained so up until it became unavailable when we redesigned our site in July 2010. The staff at Embedded.com is working diligently to restore all our old content and make never-before-posted content available soon.

Here is the full original PDF of the article "PID without a PhD."