What is a typical PID-tuning lab sequence to achieve a desired closed-loop response?

• A. Apply a sine wave and adjust only Kp until the output matches.
• B. Only adjust Ki while leaving Kp and Kd at zero.
• C. Characterize the plant, select a tuning method, compute initial Kp/Ki/Kd, apply step input, observe response, adjust gains, monitor for saturation and anti-windup, validate stability.
• D. Skip plant characterization and set arbitrary gains; test with random signals.

Answer: (C)