First find out the Transfer Function of your model. Once you have it, you do not insert a PID because sounds good and everybody talks about it, instead, depending on your transfer function, you start with P regulator, then PD, if the 1st one does not suit your need, then PI regulator if the 2nd one does no suit your need and finally with PID if the 3rd one does not suit your need.
Simulink has a great toolbox which adjust P,PI,PD,PID regulator very easily (one can adjust the regulator with that toolbox at the same time is drinking a coffee and reading the newspaper) once you have a transfer function.