Does exist a particular PID library that facilitate PID controller tuning.
Let’s say realize following scenario:
- specify some guess values for Kp, Ki, Kd
- apply some kind of perturbation (e.g. step) on settle point
- measure output
- extract from measurements optimized Kp, Ki, Kd parameters according some constaraints (e.g. settling time less than 1us, overshoot less than certain value, etc.)