Tunning PID using Matlab

Hey there,

I am trying to create a tuner app taking up the desired and actual and making a system state plant model then tunning it.

My issue for now is it possible to even do that since your data is already controller by a PID.

Here is a sample data as you can see my copter is not well tuned:

Here is a system state plant model to be used in tunning:

Original PID gains are:
Kp: 0.018
Ki: 0.08
Kd: 0.024

I know that the best method is Autotune but there is a risk in that also it requires a wind-free environment which is hard sometimes.

Take a look at Now that I have system identification data, what do I do?

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