How to get equations for self tuning PID?

[awouda]

hi every one
really i get a good information from this site so thanks in advance for every one
i'm doing a research in using self tuning PID i need to know how to get equations for self tuing..for example i use a grey predictor which can predict the next error but i do not know how to use the next predicted error to self tune PID parameters so is there is any one who can help me..

 

[amrstaha]

Re: self tuning pid

MATLAB Central has some good info about PID autotunning

 

[awouda]

self tuning pid

i inow but i need information about how to do the maths for self tunning