Just to give a bit a context, here are the equations I'm using for the Angular accelerations.
So my plant gains would be
φ**/τφ =(1/Jx) along x axis
θ**/τθ =(1/Jy) along y axis
The basic PID structure is
Lets just say my plant gain for angular accl around x axis is φg and my PID gain is Pg. To obtain a controller, do I do
(φg)(Pg)=open loop gain=L
and for closed loop L/(1+L).
My question is, am I right about what I'm doing and do I upload the algorithm in time domain form or frequency domain form (Silly question as frequency domain is for analysis but my only control experience is purely theory and entirely focused on analysis using root locus and nyquist)