Oh! My first job out of college had me implementing PID control for a two axis rotary control tables. The design had counter weights (think dumbbell shaped). I

Oh! My first job out of college had me implementing PID control for a two axis rotary control tables. The design had counter weights (think dumbbell shaped). I was the dumbbell implementing this and as I was young, had almost 168 hrs a week to work on this. OMG! I spent so much time trying to tune this and it would occasionally enter these oscillatory states back and forth. Unfortunately the device on the turntables cost about $500k…. It was such a painful experience.