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What is the best free tool available to do tuning procedure to the PID controller system below

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What is the best free tool available to do tuning procedure to the PID controller system below

Accepted Answer

Arkadiy Turevskiy
Arkadiy Turevskiy on 7 Jul 2014
If you already have Simulink, then you can tune the gains by hand or download something free from the file exchange. MathWorks offers PID Tuning tools in Simulink Control Design and Robust Control Toolbox. For a MIMO system like yours the best choice is Robust Control Toolbox, as explained in this example , which appears similar to your application.

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