The AutotunerPID Toolkit allows to experiment with well established tuning methods and compare the results of different methods a posteriori.
The AutotunerPID Toolkit simulates a single SISO control loop. The main component of the Toolkit is a Simulink file, which includes a PID with autotuner, the plant to be controlled and some auxiliary blocks to manage the simulation. The user interacts with the autotuner through a set of GUI implemented as S-functions. If the plant is linear, a comparative analisys of all the autotuning methods can be performed, too.
This toolkit comes with his own guide in html format, which also includes a very basic description of the autotuning method used.