best Tuning method for PID?

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What is the best tuning algorithm for PID ?

In commercial products what PID formula and waht PID tuning algorithms for calculation Kp,Ki,Kd are used?
 

Hi,

You can get useful hints on PID tuning from
Code: 
http://www.engin.umich.edu/group/ctm/

Here the effect of changing the gain of each proprtional, derivative and integral part is explained.
 

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