what tuning method is used for 'pidtool' or 'pidTuner' for PID tuning ?

I have used

Cbase = pid(1,2,'Ts',0.001,... 'IFormula','BackwardEuler','DFormula','BackwardEuler') pidTuner(tf2,Cbase) % Launch PID Tuner

for tuning my Transfer function 'tf2' it gives a perfect tuning but theoretically which particular method it follows for tuning PID?

Answer 1

[Arkadiy Turevskiy]

See here .

[SHAH NEWAZ ABDUL KADER]

thank you for your answer; I have seen the PID Tuning algorithm but what is the main method it follows like ZN or Cohen-Coon or The auto-tune variation (ATV) or The Internal Model Control (IMC) method?