Simulink Control Design™ lets you design and analyze control systems modeled in Simulink®. You can automatically tune arbitrary SISO and MIMO control architectures, including PID controllers. PID autotuning can be deployed to embedded software for automatically computing PID gains in real time. 

You can find operating points and compute exact linearizations of Simulink models at various operating conditions. Simulink Control Design provides tools that let you compute simulation-based frequency responses without modifying your model.