References:
WPILib: Control System Basics
https://docs.wpilib.org/en/stable/docs/software/advanced-controls/introduction/control-system-basics.html

WPILib: Picking a Control Strategy
https://docs.wpilib.org/en/stable/docs/software/advanced-controls/introduction/picking-control-strategy.html

Video: Everything You Need to Know About Control Theory, Brian Douglas
https://www.youtube.com/watch?v=lBC1nEq0_nk