How to get process ID of background process?

You need to save the PID of the background process at the time you start it:

foo &
FOO_PID=$!
# do other stuff
kill $FOO_PID

You cannot use job control, since that is an interactive feature and tied to a controlling terminal. A script will not necessarily have a terminal attached at all so job control will not necessarily be available.

You can use the jobs -l command to get to a particular jobL

^Z
[1]+  Stopped                 guard

my_mac:workspace r$ jobs -l
[1]+ 46841 Suspended: 18           guard

In this case, 46841 is the PID.

From help jobs:

-l Report the process group ID and working directory of the jobs.

jobs -p is another option which shows just the PIDs.