I can recommend "Feedback Control for Computer Systems" by Philipp Janert , but the real underlying treasure is understanding Cybernetics. For that, try "Introduction to Cybernetics" by W. Ross Ashby .
 PDF available from http://pespmc1.vub.ac.be/ASHBBOOK.html
PID is in there, along with lots of other techniques.
Fresh book recommendations delivered straight to your inbox every Thursday.