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[FRC 2012] PID Tutorial

Please note that the content contained in this document is out-of-date for the current competition season. Please feel free to use it as a reference moving forward.
This tutorial goes over the basic concept of PID control and how to incorporate a PID controller into a robot system.
Contents
    What is PID?
    PID Algorithm
    Effective Use of PID in Robotics Systems
    Using PID in LabVIEW
    Tuning a Controller
    Conclusions
    Additional Resources
Barron
Applications Engineering
National Instruments
Contributors