[RealityVoid]

Soo, if I wanted to look deeper in the maths for these RST controllers, where should I be looking? As I've been confessing in another comment in this thread, I am quite stumped how to proceed to understand more complex controllers. This is all my fault, because of my weak grasp of advanced mathematics.

[HeyLaughingBoy]

The best book I know of is pretty old by this point, but it's very readable! Modern Control Systems by Dorf & Bishop. Probably pretty expensive by now, too!

There's also the Control Systems Design Guide, but that's more of a cookbook-style. Dorf and Bishop is a theory book, but a good one.