# If you want to have a accurate PID coefficient:

 - Get your statistic actuator data (i.e. <kbd>collecting input voltages</kbd> + <kbd>encoder pulses</kbd> in a const frequently (`0.01sec`) time for `20secs` as a `3`x`2000` matrix) 
 - Get transfer function (TF) of your actuator (using [Ident][1] toolbox in MATLAB).
 - Finally, use [PIDTool][2] toolbox in MATLAB and upload your transform function. 

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# Or in a quick and simple manner:

There is a quicker approach called [Ziegler–Nichols][3]:
[![enter image description here][4]][4]

And in this image demonstrate **PID parameters effects**:   
[![PID parameters effects][5]][5]


  [1]: https://www.mathworks.com/videos/introduction-to-system-identification-toolbox-68901.html
  [2]: https://www.mathworks.com/videos/pid-control-design-with-control-system-toolbox-68748.html
  [3]: https://en.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method
  [4]: https://i.sstatic.net/CF9m6.jpg
  [5]: https://i.sstatic.net/387Rz.png