diff --git a/drivers/pid_controller/pid_controller.ipynb b/drivers/pid_controller/pid_controller.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..0a76977e94f0bf4b1eb93b89211b28e685812e82
--- /dev/null
+++ b/drivers/pid_controller/pid_controller.ipynb
@@ -0,0 +1,192 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "id": "7e06b69d",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import pidcontroller"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 59,
+   "id": "dc086560",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "PID Controller Connected Successfully\n"
+     ]
+    }
+   ],
+   "source": [
+    "controller = pidcontroller.PidController('COM5')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 63,
+   "id": "134b77e1",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "';'"
+      ]
+     },
+     "execution_count": 63,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "controller._sendCommand('P2.254;')\n",
+    "controller._sendCommand('I0.0014;')\n",
+    "controller._sendCommand('D100.348;')\n",
+    "controller._sendCommand('N370.75;')\n",
+    "controller._sendCommand('S31.0;')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 64,
+   "id": "f35f5556",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'2.254000,0.001400,100.348000;'"
+      ]
+     },
+     "execution_count": 64,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "controller._sendCommand('p')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 115,
+   "id": "bcf2eedd",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'-0.027327,381.741730,-0.000098;'"
+      ]
+     },
+     "execution_count": 115,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "controller._sendCommand('v')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 116,
+   "id": "ec963ad6",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'31.027632,30.811564,30.906875,30.280394,30.118540;'"
+      ]
+     },
+     "execution_count": 116,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "controller._sendCommand('t')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 117,
+   "id": "5965db64",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'0.464288;'"
+      ]
+     },
+     "execution_count": 117,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "controller._sendCommand('o')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 58,
+   "id": "e1c88aaf",
+   "metadata": {},
+   "outputs": [
+    {
+     "ename": "TypeError",
+     "evalue": "connect() missing 1 required positional argument: 'port'",
+     "output_type": "error",
+     "traceback": [
+      "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
+      "\u001b[1;31mTypeError\u001b[0m                                 Traceback (most recent call last)",
+      "\u001b[1;32m~\\AppData\\Local\\Temp/ipykernel_34064/1597917223.py\u001b[0m in \u001b[0;36m<module>\u001b[1;34m\u001b[0m\n\u001b[1;32m----> 1\u001b[1;33m \u001b[0mcontroller\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mconnect\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m",
+      "\u001b[1;31mTypeError\u001b[0m: connect() missing 1 required positional argument: 'port'"
+     ]
+    }
+   ],
+   "source": [
+    "controller.disconnect()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "7154d4dd",
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.9.13"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}