PIDTune

PIDTune[sys] gives a feedback PID controller for the system sys. 

PIDTune[sys,"carch"] gives a controller of architecture "carch" ("P", "PI", "PID", etc). 

PIDTune[sys,{"carch","trule"}] gives a controller using the tuning rule "trule". 

PIDTune[sys,…,"prop"] returns the value for the property "prop". 

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