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I don't use and have never touched PIDs, they really aren't necessary and altering the ways in which the AI controls your vehicle that then results in bad controls is a circular problem. Default hover AI is very stable and adaptable with minimal tweaking of allowed altitudes for airplanes, airships, boats and submarines.
you yould add more weight, especially as far to the edges as possible. airsships especially need some mass to not just fishtail
you could also just reduce the power output/response on your control surfaces/thrusters
tried lowering center of mass, but even going as far as having massive lead weights extending like a pillar out the bottom of the ship that are also heavy enough to sink it like a rock, does not seem to improve stability at all. anything lighter then also also does not seem to have any effect