I just wanted to share this article with anyone who is interested in tuning a PID system. It's called "PID control without a PhD" and is a relatively approachable discussion on tuning PID systems without diving into complex math. It's written by a man named Tim Wescott, a Control Systems Designer for FLIR Systems. As far as I know, it is free to distribute so I figured I'd share the love with everyone here. I have attached the PDF to this post. Alternatively, it's also available from the Wikipedia article on PID in the "External Links" section (or by a Google search).