What have you done so far ?
Can you read the sensor and print the value returned to the Serial monitor ?
Can you convert the sensor value into a range that can be used to control the servo ?
Can you write the converted value to the servo ?
How are you powering the servo ?
I realise that the above questions do not relate to the use of a PID but we have no knowledge of your level of expertise
Have you installed the PID library and looked at the examples it contains ?