Video lecture:
PID controller tuning with Ziegler-Nichols' oscillations method
by
15. March 2009
This video (24 minutes) describes the Ziegler-Nichols' oscillations method (or ultimate gain method) for PID controller tuning.
The video is based on the simulator temp_control.exe which is in the zip-file temp_control.zip. (You can run the simulator while watching the video.) Information about this simulator is available here.
The software needed to run the simulator is described here.