Added a PID Control System

Unfortunately Motor B is much less stable (oscillates for many input types) over the s-domain when compared to Motor A.  In order to to not have any unstable outputs form ramp an step inputs all PID values must be very low

Final Values:

Kp = 1.0, Ki = 1.0, Kd = 0.001

A sampling rate of 20 milliseconds was used