The potential trade-offs between the transient and steady-state performance of the nl-PID control lie in the tuning of the control parameters, particularly the integral and derivative gains. A higher integral gain can improve steady-state accuracy by reducing the offset error, but it may lead to overshoot and oscillations in the transient response. On the other hand, a higher derivative gain can enhance transient response by damping oscillations faster, but it may introduce noise amplification and sensitivity to measurement noise in the steady state. Balancing these trade-offs involves careful tuning of the control gains based on the specific requirements of the application. For applications where fast settling time is crucial, prioritizing transient response by adjusting the derivative gain might be necessary. Conversely, for applications where precise steady-state accuracy is paramount, focusing on the integral gain to minimize steady-state error would be more appropriate.