One of our mentors (Mike Smyth) made an AWESOME power point on control system theory and PID stuff that can be applied to FIRST robotics. We've posted this in our repository to share with everyone. Select SAVE AS to download the zip file in whole to your hard drive. Nice GEEKY information.
Control System Power Point
check out Mike's Website:
http://home.ctlnet.com/~robotguy67/Homepage.htm