Data-driven robust PID tuning toolbox

In this paper, a toolbox is presented for the parameter tuning of PID controllers based on the Virtual Reference Feedback Tuning. The VRFT is a data-driven methodology that uses only data to find the parameters of the controller. In order to add robustness to the design, a test is proposed and implemented in the tool that use an approximation of the multiplicative uncertainty in an “Internal Model Control” like framework to check if the controller found is robustly stable.