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Of course you have to know the parameters of your motor, for example,
* moment of inertia of the rotor (J) = 0.01 kg.m^2/s^2
* damping ratio of the mechanical system (b) = 0.1 Nms
* electromotive force constant (K=Ke=Kt) = 0.01 Nm/Amp
* electric resistance (R) = 1 ohm
* electric inductance (L) = 0.5 H
You have to find the correct number for your case. Take a look at the following
page to start modeling your motor first, before you attempt to get the PID constants.
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