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If you're learning about PID controllers, do yourself a favor and watch Brian Douglas's video series on the topic:

https://youtu.be/wkfEZmsQqiA?si=50WWz4kuber56JIU

Brian has great videos on other control theory topics as well.

These videos were fantastic, thanks for linking them. The perfect balance of a little theory with practice and examples for someone who has an immediate need to control something but has never taken a control theory class.

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