At my first real Engineering job, I used this paper to both understand and implement a PID control system. Then by using the Ziegler Nichols method of tuning, t

At my first real Engineering job, I used this paper to both understand and implement a PID control system. Then by using the Ziegler Nichols method of tuning, the system was controlled way better than anyone had expected. Since then I have used it a handful of times with minor tweaks and each time it feels like magic when things work well. https://en.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method https://en.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method