PID controller of a dc motor using a microcontroller

Hi, i am new to control systems, I have to build a dc motor control system using a uC. Can someone please help with the steps i need to take to do so and also where i can find a good lecture on simulink. I have done a little bit of research and i know am going to be using a PID controller. Thanks

https://www.electro-tech-online.com/custompdfs/2011/01/00718a.pdf

EDIT:
Welcome to the Forum!

This is one of the best sites I found on pid it really gets into detail of it.

**broken link removed**

check these links might help:
Electronics & Control Engineering Understanding PID
Electronics & Control Engineering Control Summery

first you need to understand the thoery and then make the PID controller on simulink/ucontroller