"Good tripod" and that price range amount to a contradiction in terms, unfortunately. The standard advice is that tripods can be inexpensive, lightweight, or sturdy: you can have two out of three.
Good tripods start at about double what you want to spend. Budget tripods tend to be very fussy to work with (head sags after tightening, getting worse with time, plate isn't quite level, legs get stuck when trying to extend or close, etc.), which is why a lot of people grow weary of them and end up leaving the tripod in a closet most of the time. They also have a nasty tendency to break at the most inopportune time (I often see pieces of broken tripods on hiking trails that are popular with photographers).
But if you really want to stay under $200, you can get something that is at least functional. If you don't mind lugging around a bit of extra weight and have a small camera to support, you might consider a set of aluminum Manfrotto legs and one of their smallest ballheads. The Giottos brand is supposedly comparable. At least those two tend to make sturdy products. You can save on weight by getting a tripod that doesn't stand very high, if you don't mind hunching over to use it.
Unless you're doing video, you'll probably find that a ballhead is preferable to a pan/tilt head. Try to get a ballhead that has a panning knob in addition to the main knob; it makes life much easier.
If you really like the results you get with your $200 tripod, the chances are very high that you'll invest in a better one, and then a better one, and then an even better one. You'll eventually end up with one in the $800-$1200 range, where they really start to get nice (very lightweight and sturdy carbon fiber, extremely smooth and convenient to operate, stands at a nice height, etc.). Or you could just start there (buy once, cry once), but then you wouldn't have a closet full of old tripods that you can talk about on internet forums.
