https://www.electronicdesign.com/analog/whats-all-p-i-d-stuff-anyhow

For all Bob Pease fans: there's a fabulous 9 volume ~1200 page scan of his columns here:

https://archive.org/details/Bob_Pease_Lab_Notes

The P-I-D article Ben mentions appears in volume 2, starting on page 167.

/tvb

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