It really is mostly empirical, especially since any real system has limits on the amount of proportional, derivative, or integral control authority you can appl

It really is mostly empirical, especially since any real system has limits on the amount of proportional, derivative, or integral control authority you can apply. Still, every controls student is taught Zeigler Nichols, and are simultaneously told by their professors that nobody uses it. https://en.m.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method https://en.m.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_meth...