Software for PID controller tuning PIDTOOL 1.0 was developed in the

MATLAB – Simulink programming environment using its graphic user interface. The

main aim of the PIDTOOL design was creating user friendly tool for simple and fast

identification from data measured on the controlled process as well as for simple and

fast PID controller tuning. The controlled system is identified from its step response in

the form of the 1st order transfer function or in the form of the transfer function of the

higher order.