How to Design a P D Controller for a Robotics Course

I would like to get it out of the graduate student realm and into undergradte which would be appropriate for rose holman. We do have a lot of robotic minor students who go on to graduate school at carnegie mellon georgia, tex stanford, et cetera. So if i can get them a leg up by giving them at least a basic introduction to ross before they leave undergrad, that puts them a little bit ahead in grad school anyway.