Empirical PID gain tuning (Kevin Lynch) 

For more information, see nu32.org. This video is a supplement to the book "Embedded Computing and Mechatronics with the PIC32 Microcontroller," Lynch, Marchuk, and Elwin. It is part of Northwestern University's ME 333 Introduction to Mechatronics.
L-comp: Explain why you have to be careful not to make the integral gain Ki too large.