how to measure PID parameters from PID tuning of SISOtool

I have a discrete plant which I wanna find a PID controller:

I used SISOtool and PID tuning to find a fine PID controller, result is:

How can I find PID parameters from that to program my microcontroller? Thank in advanced.

Answer 1

[Arkadiy Turevskiy]

Export the compensator you designed, C, to MATLAB workspace. Then in MATLAB type

C=pid(C)

This will convert the compensator from a transfer function to a PID object. You can then access the gains as shown below.