helped me with pid tuning

although its not as intresting as other bed time stories like clifford the big red dog or race cars race cars watch them go. this read really helped me to better understand what i should be adjusting to get the effect im looking for in my attempt to reduce ferror in my pid loops.
www.newport.com/servicesupport/Tutorials/default.aspx?id=152

also to the relief of my 3 yr old son, who would rather hear clifford the big red dog or race cars race cars watch them go. he won't have to fall asleep listening to me read him pid theroy and ziegler-nichols equasions. so to keep the sanity in other housholds, as i just restored sanity to mine. i thought i would share this. to ease the pain and suffering of others like myself. noobie challenged