This guide to the PID algorithm and the mathematical concepts that underpin it - is written so that anyone can get an intuitive understanding of how the algorithm works and why.
This crash course uses the analogy of a car on a freeway changing lanes to represent the process under control and walks you through easy to visualize "thought experiments" to cement the concepts in your mind.
If Integrals, Differentials and the inner working of the PID algorithm are a mystery to you - this "Idiot's Guide" will give you the A-HA! moment as everything finally makes sense.