Frank,
A PID controller should have three gain constants ("P","I", and "D"). You can turn a PID controller into a PD controller by simply setting the integral gain "I" to zero. If you have found example of code for PID controllers that fit your configuration, you should try that. Then the difficult part of the problem becomes determining the values for the proportional "P" and derivative "D" gains.
That is where the PIDTune
and ToDiscreteTimeModel
functions in the Wolfram Language can help. They do require that you have at least a rough approximation of a mathematical model for your system.
Alternatively, there are purely experimental techniques for tuning PID gains, but those are outside of the scope of the this community.