The document describes using simulated annealing to tune the parameters of a PID controller (Kp, Ki, Kd) for a stable linear time-invariant system based on different error criteria (ISE, IAE, ITAE, MSE). Simulated annealing is an optimization technique inspired by annealing in metallurgy. It was used to minimize the error criteria and design PID controllers that meet performance specifications. The PID controllers were tested in closed-loop simulations, and their step responses were presented for each error criteria. The results showed the tuned PID parameters and performance for each criteria.