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Model-Based PID Controller Tuning

Interactive tuning of PID gains in Simulink®

Simulink Control Design™ PID tuning tools let you tune single-loop control systems containing continuous or discrete PID Controller or PID Controller (2DOF) Simulink blocks. To decide which PID tuning tool is right for your application, see Choose a Control Design Approach.

Graphical Tools

PID TunerTune PID controllers


PID ControllerContinuous-time or discrete-time PID controller
PID Controller (2DOF)Continuous-time or discrete-time two-degree-of-freedom PID controller
Discrete PID ControllerDiscrete-time or continuous-time PID controller
Discrete PID Controller (2DOF)Discrete-time or continuous-time two-degree-of-freedom PID controller


Control Design Onramp with SimulinkFree, self-paced, interactive Simulink Control Design course (Since R2020b)


PID Tuning Basics

Alternative Plant Models

Gain-Scheduled PID Control

Two-Degree-of-Freedom PID Controllers


Plant Cannot Be Linearized or Linearizes to Zero

Some Simulink blocks, such as those with sharp discontinuities, can produce poor linearization results. For example, when your model operates in a region away from the point of discontinuity, the linearization of the block is zero.

Cannot Find a Good Design in PID Tuner

If you cannot find a good design using PID Tuner, try a different PID controller type. If no PID controller is satisfactory, consider designing a more complex controller.

Simulated Response Does Not Match PID Tuner Response

When you run your Simulink model using the PID gains computed by PID Tuner, the simulation output can differ from the PID Tuner response plot.

Cannot Find Acceptable PID Design in Simulated Model

When you run your Simulink model using the PID gains computed by PID Tuner, the simulation output may not meet your design requirements.

Controller Performance Deteriorates When Switching Time Domains

If controller performance deteriorates when you discretize a tuned continuous-time PID controller, consider tuning a discrete-time controller directly.

When Tuning the PID Controller, the D Gain Has a Different Sign from the I Gain

When you use PID Tuner to design a controller, the resulting derivative gain can have a different sign from the integral gain. PID Tuner always returns a stable controller, even if one or more gains are negative.