Good info on using PID for line following with Lego Mindstorms NXT

http://www.brickshelf.com/gallery/cssoh/LEConf2007-SG/teach_prop_control_2007mar11.pdf

http://forums.usfirst.org/showthread.php?t=13463

Article and posts about using Proportional-Integral-Derivative (PID) for doing line following with robots.

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