Algodoo

I liked Kurthew's PID controller so much that I made my own. Although it looks similar, it works a little differently. I use the change in time between updates (dt) when calculating the integral and derivative. I also added a low pass filter to the output (kf). If kf = 1, then there is no filtering. The scene is set up with workable values. Press "c" to reset everything.

If tuning from scratch (kp=0, ki =0, kd=0, kf=1), then start by adjusting kp, then adjust kd to minimize oscillations, then adjust ki to minimize offset, and finally adjust kf for the smoothest signal. Initially, you may have to adjust kp and kd iteratively in order to get high gain.