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here is a link that i know will be very useful for you in designing pid controllers but here PIC16f876 was used but i dont think there is much difference in between the two. but i know you can get good knowledge in the site.
**broken link removed**
here is a diagram go to the link for the complete infromation.
here is another site where u can get a kind of simulation and source code for the pid control. its also a partner to the first link. this site has good documentation take your time to browse through and search for the documentations as you require.
i hope they are all usefull for you **broken link removed**
I think that the best way is collect some documents from Microchip like datasheets and reference manuals. Other way are on line seminars...check in microchip website...
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