Not sure if this is allowed but I created a Udemy course on PID control where I go through the theory and then in the assignments you write Python code to create a PID controller for an elevator (with the goal of moving the elevator to the desired height). A PID controller can be written in less than 10 lines of code but understanding the different components is very important for tuning it and getting it to work. If your interested just go to Udemy and search PID Control, you'll find it.

If you'd like a discount code (not worth the full price if your a SW eng) DM me on Twitter as I'm not sure I'm allowed to post it here.

When I did my MSc I did all my PID controllers in MATLAB/Simulink but since the actual code for a PID controller is very simple, it's easy to implement in Python or C++.

Looks interesting .. as a SW Eng, I find Udemy very useful for these hw courses. Thanks for the pointer!

Google for a class in (classical) control theory. This is a standard topic for electrical, mechanical, and chemical engineering programs.

For implementing a PID loop, you can do it in pretty much any language you want -- it's relatively straightforward once you know the math. You can even do it in hardware via an analog circuit if you desire. However MATLAB / Simulink are commonly used when experimenting with system parameters due to the presence of straightforward plotting tools and numerical ODE solvers.

The Control Lectures series by Brian Douglas on YouTube is a fantastic resource (https://www.youtube.com/user/ControlLectures). Also U. Mich. has a great set of control tutorials put together with a focus on implementations in MATLAB/Simulink (http://ctms.engin.umich.edu/CTMS).

All of my own experience in controls (both as a student and professional) uses MATLAB/Simulink to model and generate controller code. Other tools are out there, but I don't know much about them.