It's an excellent book for folks who haven't been exposed to this stuff [1] before, but it could be called "Cybernetics for Dummies" (I don't mean that in a bad way!)

I can recommend "Feedback Control for Computer Systems" by Philipp Janert [2], but the real underlying treasure is understanding Cybernetics. For that, try "Introduction to Cybernetics" by W. Ross Ashby [3].

[1] https://en.wikipedia.org/wiki/Control_theory

[2] http://shop.oreilly.com/product/0636920028970.do

[3] PDF available from http://pespmc1.vub.ac.be/ASHBBOOK.html

See http://shop.oreilly.com/product/0636920028970.do

I started reading the O'Reilly book "Feedback Control for Computer Systems" by Philipp K. Janert about applying feedback control to software systems, and I liked what I read so far a lot: http://shop.oreilly.com/product/0636920028970.do

PID is in there, along with lots of other techniques.