Tune PID controllers

If you are tuning a controller for a plant represented by an LTI model, use the Type menu to specify controller type. When you change controller type, PID Tuner automatically designs a new controller. Available controller types include 2-DOF PID controllers for more flexibility in the trade-off between disturbance rejection and reference tracking. For details on available controller types, see PID Controller Types for Tuning.

If you are tuning a PID Controller or PID Controller (2DOF) block in a Simulink model, the Type field displays the controller type specified in the block dialog box.