MKR MOTOR SHIELD and PID control

Hello,
I would like to implement a PID control with a 0 - 5 V analog outputb (power signal) and 0-5 V analog input as sensing signal (feedback).
I've seen that this board is capable of implementing a PID control for a DC motor and encoder. Is it possible to adapt it to a voltage signal instead of an encoder?
Any suggested wiring / diagram or help? (I'm quite unexperienced at Arduino)

Hardware used: MKR1000 & MKR MOTOR SHIELD

Thank you in advance