What are the pid gains for a controller as theoretically, Computer Engineering

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What are the pid gains for a controller as theoretically

What are the PID gains for a controller as theoretically predicted by SISOTOOL? Do we need an integrator in the PID controller, why?

What are the best set of PID gains for your real system after tweaking?

Are they close to the values predicted by SISOTOOL?

What cause the discrepancies between the PID gains obtained by SISOTOOL simulation and by tweaking with the real system?

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