Control systems impact our lives on a daily basis, whether it is from our thermostat controlling the temperature in our home to cruise control in our car to surfing the worldwide web. Feedback control systems is a type of dynamical system where it uses feedback from the system and an algorithm to determine an input into the system. The algorithms are referred to as controls or controllers. The most common control for control systems are Proportional, Integral, Differential (PID) controllers. They are used to solve more than 95% of all industrial control problems.  In this tutorial, we will discuss the necessary background from MA 531 and introduce a few new concepts of feedback control systems in order to have an introductory discussion of PID controllers. We will focus primarily on linear control systems.