PIDSEARCH

PIDSEARCH searches for a PID type controller for a plant G starting from an initial controller Di while minimizing a selected cost function or parameters based on the unit step response. The returned controller will have the same structure as Di. Both G and Di must be control toolbox transfer functions. Cost functions and parameters are:
ITAE -- integral of time and absolute error
ISTE -- integral of the square of the product of time and absolute error
ISE -- integral of the squared error
RISE -- integral of the squared error beginning at the system rise time
OS -- response overshoot
Ts -- response settling time
OSTs -- product of the response overshoot and settling time
UTs -- product of the initial control effort amplitude and response settling time