MATHACC 
A Rocket Science demonstration of a PID peripheral
Trying to exemplify what a PID peripheral (the MATHACC available on the PIC16F161x series) can do ... although it got a bit out of hand. I'll blame it on Space X.
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The Rocket idea was originally from the cover of my "This is (not) Rocket Science" book, but the truth is that controlling a rocket is not exactly a typical PID project. Or it would be if it was not for the fact that burning fuel, changes a key element of the control problem. As the rocket gets lighter, the PID coefficients would ideally need to be modified to match the new system dynamics.
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The inverted pendulum was added recently, this is more of a classic for PIDs truly.
Both examples are written for Python3 and use only the Tkinter lib, so should work ANY OS but I tested it only on OS X (Mac).