BASIC MATERIAL is required reading for all students

IN DEPTH material is additional reference and can be pursued by students depending on the design approach being pursued.

Brief Explanation of Arduino PID Library

Low-Pass Filter Design — From Wikipedia. Note the highlighted sections on discrete-time realization.

PID Control Using an Arduino

PID Tuning — Excerpt form Introduction to Mechatronics and Measurement Size by David Alciatore and Michael Histand