PID Tuner opens, linearizes the model at the model initial conditions, and
automatically computes an initial controller design that balances performance and
robustness. In this design, PID Tuner adjusts the setpoint weights b and c if
necessary, as well as the PID gains. To see the tuned values of all coefficients, click
Show Parameters.(^2) Analyze and refine the initial design, described in “Analyze Design in PID Tuner” on
page 7-9. All the same response plots, design adjustments, and options are available
for tuning 2DOF PID controllers as in the single-degree-of-freedom case.
(^3) Verify the controller design, as described in “Verify the PID Design in Your Simulink
Model” on page 7-18.
Design Two-Degree-of-Freedom PID Controllers