This article describes three interactive learning modules that are designed to develop intuition as well as a working knowledge of proportional-integral-derivative (PID) control. These three modules comprise a package called interactive learning modules for PID (ILM-PID). By illustrating concepts such as tuning, robustness, loop shaping, and antiwindup, ILM-PID can be used for demonstrations, exercises, and self-study. In this article we use interactive graphics to learn PID control and develop intuition.