[frisbee6152]

I was on one of those robotics teams, and I recall this document being passed around as suggested reading on that team. It’s probably worth considering that this was written in 2000, when it was a more niche topic, and was probably itself a part of what made PID programming more accessible in the first place.

[zelos]

PID design was on my undergrad Chem Eng 2nd year curriculum in the 90s. I took it the year Starcraft came out, so my grade suffered a bit.

[jldugger]

I mean, Control Theory has been part of engineering cirricula for a lot longer than that. But the internet wasn't nearly as pervasive then, and Wikipedia wouldn't be founded until the next year.