How can I add id attributes to menus?

Hi,

So how would I go about adding id attributes to various menus? For the sake of argument, let's say I wanted my primary menu ul to have an id "primary_menu," my secondary menu to have an id "secondary_menu," my navigation menu to be "navigation," and then let's say I have a bunch of custom menus, "custom01," "custom02," etc. How do I accomplish this? I'm stumped.

My initial thought was theme_menu_tree, but that only allows me to specify the general html for the menus. Unless I'm missing something, the function only takes a list of links as an argument, so you can't really tell which menu you're working with. I have run across a method for doing this with primary and secondary menus:

echo theme('links', $primary_links, array('id' => 'primary_menu'))

But I've got no way to do that with other menus, that I know of.

Any ideas?