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by lb1lf 2223 days ago
As others have said, this page provided more understanding than more than one university course I've taken.

Oh, and anecdotally I'll state that while Ziegler-Nicholls was great for my lab exercises, it was, ahem, quickly dropped when I started tuning heavy lifting equipment. Increasing proportional gain until stable oscillation was achieved with 160 metric tons in the test tower outside was, ahem, not boring. Not in the least.