Design an initial controller for the plant. To do so, double-click the PID controller block to
open the Block Parameters dialog box, and click Tune. PID Tuner opens and
automatically computes an initial controller design.The controller in the Simulink model is configured as a PI-type controller. Therefore, the
initial controller designed by PID Tuner is also of PI-type.Add a step response plot of the input disturbance rejection. Select Add Plot > Input
Disturbance Rejection.7 PID Controller Tuning