PID Tuner couldn't find a stabilizing controller

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The PID block in the attached Simulink file stabilizes the plant (the plant is defined in the call back). However, the PID Tuner failed to find a stabilizing controller through the Tune button in the PID block. Why? How can I sepcify the initial controller for the PID tuner?
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Matt Rich
Matt Rich on 14 Jul 2022
The controller in the attached model only appears to stabilize the plant for 20 seconds. If you run the model for 200 seconds, you will see that it does not stabilize the plant.

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