Microcontroller Based Applied Digital Control
ISBN-13 978-0-470-86335-0 | PDF | RS | 324 pages | 5.6MB | English
Although there are many books on microcontrollers and many books on control theory, this book, which combines microcontrollers with control theory, is flexible enough to allow lecturers to teach a class with either a microcontroller class as a prerequisite, a controls class as a prerequisite, or both as prerequisites. The text features a special focus on digital applications of microcontrollers.
The precious link:
http://rapidshare.com/files/31816124/PIC_PID.pdf