Thank you for this awesome tool. It helped me to tune my system on the first try without wasting time like many other methods do.
You have a “Scale Gains” slider in the app. I find this very useful for testing “what if” scenarios after the system is tuned. I find that for my end users it would be simpler to have this as a single “sensitivity” adjustment instead of exposing the PID gains directly. The optimal PID gains establish the characteristic behavior of the system. This gain scale adjustment would provide a simple interface to adjust the behavior away from optimal as desired toward a “dull response” or “sharp response” without destabilizing the system.
Where may I find information on the relationship between the “Scale Gains” value and how it adjusts the corresponding PID gains?