Hey, happy to hear it worked for you with ease.
As you can imagine, the algorithm is rather complex, but generally speaking, it consists of:
- a series of both linear and nonlinear system identification techniques to identify the models based on your data.
- skogestad’s IMC rules for PID tuning based on the models (https://folk.ntnu.no/skoge/publications/2003/tuningPID/more/tuningpaper_reno-2001/tuningpaper_06nov01.pdf)
The PID tuning rules are just given as a tuning starting point. The valuable information are actually the models, you can use any tuning rules over the models to achieve whatever you want with your PID.