The aim of this study is to design and implement a Proportional-Integral-Differential (PID) controller for attitude control of a single-axis system using the Ziegler-Nichols method.  The resulting controller is tested in various scenarios, and its behaviour is evaluated. The design was developed using CAD software, incorporating suitable mountings for all components, and then 3D-printed. The parameters required to adjust the PID controller according to Ziegler-Nichols were determined through systematically repeated experiments. The behavior of the tuned controller was tested in a total of 6 scenarios. The controller was able to fulfill its task in all situations, although it took a longer settling time in some scenarios than in others. Compared to other controllers adjusted using the Ziegler-Nichols method, this controller behaves more passively. Small oscillations continue to occur when holding the target position. Fine-tuning of the parameters is required to prevent this. Finally, this paper discusses the applicability of these findings to the stabilization of a more complex, multi-axis system (a quadcopter). It is concluded that while the foundational principles of PID control are transferable, the specific Ziegler-Nichols tuning process is impractical for unstable aerial vehicles due to the inherent risk of catastrophic failure.

Keywords: PID Control, Ziegler-Nichols, ESP8266, BNO055, Quadcopter