[artdutra04]

The actual coefficients depend heavily on the actual mechanism. For starters, set I and D to zero, and set P really really low. You want it to start very conservatively and not oscillate. Then continue increasing P until it starts to oscillate; if you back off from this the P alone is enough for many mechanisms.

If you want to get to your set point faster without overshoot, You can begin tweaking in D. If you have high friction causing a steady-state error, use I to overcome it.