What is the mnemonic for PID tuning?

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What is the mnemonic for PID tuning? To find the optimal parameter settings, check values in ascending order: start with the proportional term, then the integral term, and finally add the derivative term. If the curve oscillates frequently, increase the proportional gain; if the curve wanders around in large swings, decrease the proportional gain. If the curve takes a long time to return to its normal position, reduce the integration time; if the fluctuations have a long cycle length, extend the integration time further. If the oscillation frequency is high, first reduce the derivative term. Large errors lead to slow fluctuations. The differential time should be increased. For the ideal curve, there are two waves – the first one is higher and the second one is lower, in a 4-to-1 ratio. Observe carefully, make adjustments as needed, and conduct thorough analysis; this way, the quality of the adjustments will remain high