Abstract: The subject invention comprises an area that is structured to hold one or more obstacles zones for the maneuvering of motor vehicles through an obstacle or series of obstacles, all requiring skill in the operation of a particular vehicle, with the obstacle zones having a plurality of contact members that are intended to be avoided by the vehicle operator while driving through a particular obstacle zone, which contact members are adapted to sense a vehicle impact that are capable of registering such contact or contacts in order that a score can be attributed to a given rider's relative skill in the drive through such obstacle course.

Abstract: Method and apparatus for self-tuning a Proportional Integral-Derivative controller for controlling at least one load characteristic to a predetermined setpoint from calculated values of Proportional Band (PB), Integral Time Constant (ITC) and Derivative Time Constant (DTC) by application of power to the load, establishing a cut-off point to remove power to the load, determining the slope of a measured value of the at least one load characteristic and starting an integral time counter upon detection of the power cut-off point, determining at least one value X.sub.min at which the value of the measured value decreases by a fixed percentage, determining the maximum value X.sub.max of the at least one load characteristic, calculating the values of the PB, ITC and DTC by determining the rise X.sub.r =X.sub.max -X.sub.min and determining PB and ITC from a stored table relating X.sub.