[tobinfricke]

> I've heard someone say that PID is the deepest you can get without in control systems without advanced mathematics and I think hey might be right.

It's true that there is a lot of surprisingly deep math in control theory, but even learning just a little bit of the theory can be greatly illuminating.

The trouble with PID is that it is typically treated as a black box with three magic knobs that you twiddle until your system works. This can be very frustrating.

By contrast, by applying a little bit of theory, you will be able to calculate the PID gains and have your controller work the first time.