TQ,
Those are pretty broad and non-trivial questions and aren't easily answered in this forum. However, here is an attempt to give you some resources to help you.
PID Embedded Control Systemshttp://www.ni.com/swf/presentation/us/pid/
You can also try the toolkits for free here if you haven't purchased yet:
http://digital.ni.com/demo.nsf/websearch/4cfcbe4ebe1cbcae8625700c007a43b4?opendocument
Control Design Toolkit manual:
http://digital.ni.com/manuals.nsf/websearch/1B2AF86E66AD7F61862571060055D6AB
System Identification Toolkit Manual:
http://digital.ni.com/manuals.nsf/websearch/B2A5993697729BEC86256F120054CD2F
Simulation Module Manual:
http://digital.ni.com/manuals.nsf/websearch/731861397AA0ACFE862570AB00734862
Also, when you install these toolkits, a very large amount of examples
are install into the NI Example Finder (Help -> Find Examples ->
Toolkits and Modules)
With Real-Time programming, it's possible to use the models that you develop with these modules. Again, this is beyond the scope of this forum. If you are considering a purchase, I would recommend contacting a NI sales rep (888) 280-7645 who can help you in more detial .
--Paul Mandeltort
Automotive and Industrial Communications Product Marketing