Explain the process of 'tuning' a PID controller.

Tuning a PID controller is the process of adjusting the controller's three parameters – Proportional gain (Kp), Integral gain (Ki), and Derivative gain (Kd) – to achieve the desired control performance. The goal is to find values for these parameters that result in a stable, responsive, and accurate control system. There are several methods for tuning PID controllers. One common method is the Ziegler-Nichols method, which involves increasing the proportional ....