The PID controller itself seems fairly robust, and includes a number of features that seasoned controls engineers would look for in their PID controllers.

A good deal of time is also spent addressing the actual PID programming and tuning – something that could be useful for many different hacks requiring precise feedback control.

This paper presents a DC motor speed controlling technique under varying load condition. The linear system model of separately excited DC motor with Torque-variation is designed using PID controller.