Teaching control systems in engineering courses often faces challenges due to the disconnect between theory and practice, making it difficult for students to grasp control concepts. This study addresses this issue by developing and implementing a didactic plant for temperature and humidity control using a PID-based (Proportional-Integral-Derivative) control system on an ESP32 microcontroller. The project was designed as a Two-Input Two-Output (TITO) system, where each input influences both output variables, increasing the complexity of the control process. The methodology involved assembling the system using low-cost components, developing a control algorithm in Arduino language, and conducting tests to fine-tune the PID parameters to minimize response time and output oscillations. The results showed that the system successfully reached the temperature and humidity setpoints with stability and precision, achieving stabilization times between 30 and 60 minutes. The introduction of the derivative action in the final tuning allowed for a faster response with reduced overshoot, demonstrating the system's effectiveness in handling external disturbances and variability in operating conditions. The project provides a practical tool for teaching control systems, enabling students to apply theoretical concepts in a controlled, real-world environment, thereby strengthening the integration between theory and practice in engineering education.