Design closed loop system and convert to PLC

Hi All, i am trying to design feed-forward feedback controller for a machine ( i don't have mathematical model for this machine), i will get real data from the machine which have 2 input and one output, so i guess the best way is to use System identification tool (ident command) to get the TF model, then i need to convert this code to PLC, so please if you could guide me with the best way, is the way i am trying to do is correct above? any suggestion and documentation.

Thank you very much