"Control Tutorials for MATLAB and Simulink. They are designed to help you learn how to use MATLAB and Simulink for the analysis and design of automatic control systems. They cover the basics of MATLAB and Simulink, the most common classical control design techniques (PID, root locus, and frequency response), as well as some modern (state-space) control design and digital control. "
Example: Digital DC Motor Speed Control with PID Control Continuous to Discrete Conversion
PID Controller In this page, we will consider the digital control version of DC motor speed problem. A digital DC motor model can be obtained from conversion of the analog model, as we will describe. The controller for this example will be designed by a PID method. - Control Tutorials