Yes! I would like Finn Peacock's "Idiot's Guide To The PID Algorithm".

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This crash course in the fundamentals of PID control uses the analogy of a car on a freeway changing lanes to represent the process under control and walks you through those easy to visualize "thought experiments" to cement the concepts in your mind.

It is called a guide to the PID Algorithm because the PID Algorithm is at the heart of any PID control system. If you don’t understand what the algorithm does, you ain’t gonna fully understand PID control. Simple as that.

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