Are you good at lucid dreaming? What are some of your techniques to induce it and control your dream world?

I've read books on lucid dreaming and understand some of the basics. I've gotten to the point where I know the time of night I am most likely to fall into a lucid dream and I have been able to exercise a little bit of control. But it becomes a very delicate balancing act and I want to get better at it. For me, it's like watching fuzzy static on TV when I'm not quite dreaming yet. Then people and images materialize like a program just came on. I get excited because I recognize it as a lucid dream, and it feels like the air is heavy wth electricity because I know "magic" is in the air. But then I am only partially able to control my characters and I worry about slipping out of lucidity where the fuzzy screen reappears. How can I better control this and induce lucidity more often? I know that thinking about it during differet times of day will help plant suggestions in my subconscious. What other techniques would you recommend if you are skilled or knowledgable in lucid dreaming